From 96a21b7ac63f7c7617fe31cfa1bde555715a8027 Mon Sep 17 00:00:00 2001
From: rotcehdnih <Hector@3xa-gaming.net>
Date: Sat, 16 Aug 2014 20:14:45 +1000
Subject: [PATCH] First commit.
-Using software serial on D9 half duplex singlewire inverted "9,9,true);"
-Tx from telemetry to D0/RX or serial1 RX
-Tested on arduino promini & leostick
---
MavLink_FrSkySPort/Average.ino | 231 +
MavLink_FrSkySPort/FrSkySPort.h | 34 +
MavLink_FrSkySPort/FrSkySPort.ino | 281 ++
MavLink_FrSkySPort/MavLink_FrSkySPort.ino | 424 ++
README.md | 23 +-
libraries/GCS_MAVLink/GCS_MAVLink.cpp | 50 +
libraries/GCS_MAVLink/GCS_MAVLink.h | 126 +
libraries/GCS_MAVLink/generate.sh | 20 +
.../v1.0/ardupilotmega/ardupilotmega.h | 180 +
.../mavlink/v1.0/ardupilotmega/mavlink.h | 27 +
.../v1.0/ardupilotmega/mavlink_msg_ahrs.h | 276 ++
.../v1.0/ardupilotmega/mavlink_msg_ap_adc.h | 254 +
.../mavlink_msg_digicam_configure.h | 364 ++
.../mavlink_msg_digicam_control.h | 342 ++
.../mavlink_msg_fence_fetch_point.h | 188 +
.../ardupilotmega/mavlink_msg_fence_point.h | 254 +
.../ardupilotmega/mavlink_msg_fence_status.h | 210 +
.../v1.0/ardupilotmega/mavlink_msg_hwstatus.h | 166 +
.../ardupilotmega/mavlink_msg_limits_status.h | 320 ++
.../v1.0/ardupilotmega/mavlink_msg_meminfo.h | 166 +
.../mavlink_msg_mount_configure.h | 254 +
.../ardupilotmega/mavlink_msg_mount_control.h | 254 +
.../ardupilotmega/mavlink_msg_mount_status.h | 232 +
.../v1.0/ardupilotmega/mavlink_msg_radio.h | 276 ++
.../mavlink_msg_sensor_offsets.h | 386 ++
.../mavlink_msg_set_mag_offsets.h | 232 +
.../v1.0/ardupilotmega/mavlink_msg_simstate.h | 364 ++
.../v1.0/ardupilotmega/mavlink_msg_wind.h | 188 +
.../mavlink/v1.0/ardupilotmega/testsuite.h | 1020 ++++
.../mavlink/v1.0/ardupilotmega/version.h | 12 +
.../include/mavlink/v1.0/checksum.h | 89 +
.../include/mavlink/v1.0/common/common.h | 436 ++
.../include/mavlink/v1.0/common/mavlink.h | 27 +
.../v1.0/common/mavlink_msg_attitude.h | 276 ++
.../common/mavlink_msg_attitude_quaternion.h | 298 ++
.../v1.0/common/mavlink_msg_auth_key.h | 144 +
.../mavlink_msg_change_operator_control.h | 204 +
.../mavlink_msg_change_operator_control_ack.h | 188 +
.../v1.0/common/mavlink_msg_command_ack.h | 166 +
.../v1.0/common/mavlink_msg_command_long.h | 364 ++
.../v1.0/common/mavlink_msg_data_stream.h | 188 +
.../mavlink/v1.0/common/mavlink_msg_debug.h | 188 +
.../v1.0/common/mavlink_msg_debug_vect.h | 226 +
.../common/mavlink_msg_global_position_int.h | 320 ++
...mavlink_msg_global_position_setpoint_int.h | 232 +
...link_msg_global_vision_position_estimate.h | 276 ++
.../common/mavlink_msg_gps_global_origin.h | 188 +
.../v1.0/common/mavlink_msg_gps_raw_int.h | 342 ++
.../v1.0/common/mavlink_msg_gps_status.h | 252 +
.../v1.0/common/mavlink_msg_heartbeat.h | 251 +
.../v1.0/common/mavlink_msg_hil_controls.h | 364 ++
.../common/mavlink_msg_hil_rc_inputs_raw.h | 430 ++
.../v1.0/common/mavlink_msg_hil_state.h | 474 ++
.../common/mavlink_msg_local_position_ned.h | 276 ++
..._local_position_ned_system_global_offset.h | 276 ++
.../mavlink_msg_local_position_setpoint.h | 232 +
.../v1.0/common/mavlink_msg_manual_control.h | 320 ++
.../v1.0/common/mavlink_msg_memory_vect.h | 204 +
.../v1.0/common/mavlink_msg_mission_ack.h | 188 +
.../common/mavlink_msg_mission_clear_all.h | 166 +
.../v1.0/common/mavlink_msg_mission_count.h | 188 +
.../v1.0/common/mavlink_msg_mission_current.h | 144 +
.../v1.0/common/mavlink_msg_mission_item.h | 430 ++
.../common/mavlink_msg_mission_item_reached.h | 144 +
.../v1.0/common/mavlink_msg_mission_request.h | 188 +
.../common/mavlink_msg_mission_request_list.h | 166 +
...mavlink_msg_mission_request_partial_list.h | 210 +
.../common/mavlink_msg_mission_set_current.h | 188 +
.../mavlink_msg_mission_write_partial_list.h | 210 +
.../common/mavlink_msg_named_value_float.h | 182 +
.../v1.0/common/mavlink_msg_named_value_int.h | 182 +
.../mavlink_msg_nav_controller_output.h | 298 ++
.../v1.0/common/mavlink_msg_optical_flow.h | 298 ++
.../common/mavlink_msg_param_request_list.h | 166 +
.../common/mavlink_msg_param_request_read.h | 204 +
.../v1.0/common/mavlink_msg_param_set.h | 226 +
.../v1.0/common/mavlink_msg_param_value.h | 226 +
.../mavlink/v1.0/common/mavlink_msg_ping.h | 210 +
.../mavlink/v1.0/common/mavlink_msg_raw_imu.h | 342 ++
.../v1.0/common/mavlink_msg_raw_pressure.h | 232 +
.../common/mavlink_msg_rc_channels_override.h | 342 ++
.../v1.0/common/mavlink_msg_rc_channels_raw.h | 364 ++
.../common/mavlink_msg_rc_channels_scaled.h | 364 ++
.../common/mavlink_msg_request_data_stream.h | 232 +
...msg_roll_pitch_yaw_speed_thrust_setpoint.h | 232 +
...vlink_msg_roll_pitch_yaw_thrust_setpoint.h | 232 +
.../common/mavlink_msg_safety_allowed_area.h | 276 ++
.../mavlink_msg_safety_set_allowed_area.h | 320 ++
.../v1.0/common/mavlink_msg_scaled_imu.h | 342 ++
.../v1.0/common/mavlink_msg_scaled_pressure.h | 210 +
.../common/mavlink_msg_servo_output_raw.h | 342 ++
...ink_msg_set_global_position_setpoint_int.h | 232 +
.../mavlink_msg_set_gps_global_origin.h | 210 +
.../mavlink_msg_set_local_position_setpoint.h | 276 ++
.../v1.0/common/mavlink_msg_set_mode.h | 188 +
.../mavlink_msg_set_quad_motors_setpoint.h | 232 +
...set_quad_swarm_led_roll_pitch_yaw_thrust.h | 320 ++
...msg_set_quad_swarm_roll_pitch_yaw_thrust.h | 251 +
...link_msg_set_roll_pitch_yaw_speed_thrust.h | 254 +
.../mavlink_msg_set_roll_pitch_yaw_thrust.h | 254 +
.../common/mavlink_msg_state_correction.h | 320 ++
.../v1.0/common/mavlink_msg_statustext.h | 160 +
.../v1.0/common/mavlink_msg_sys_status.h | 408 ++
.../v1.0/common/mavlink_msg_system_time.h | 166 +
.../mavlink/v1.0/common/mavlink_msg_vfr_hud.h | 254 +
.../mavlink_msg_vicon_position_estimate.h | 276 ++
.../mavlink_msg_vision_position_estimate.h | 276 ++
.../mavlink_msg_vision_speed_estimate.h | 210 +
.../include/mavlink/v1.0/common/testsuite.h | 4086 +++++++++++++++++
.../include/mavlink/v1.0/common/version.h | 12 +
.../include/mavlink/v1.0/mavlink_helpers.h | 525 +++
.../mavlink/v1.0/mavlink_protobuf_manager.hpp | 377 ++
.../include/mavlink/v1.0/mavlink_types.h | 158 +
.../include/mavlink/v1.0/protocol.h | 325 ++
.../message_definitions/ardupilotmega.xml | 312 ++
.../message_definitions/common.xml | 1547 +++++++
.../message_definitions/matrixpilot.xml | 14 +
.../message_definitions/minimal.xml | 189 +
.../message_definitions/pixhawk.xml | 210 +
.../message_definitions/sensesoar.xml | 83 +
.../GCS_MAVLink/message_definitions/slugs.xml | 144 +
.../GCS_MAVLink/message_definitions/test.xml | 31 +
.../message_definitions/ualberta.xml | 54 +
libraries/readme.txt | 1 +
124 files changed, 34783 insertions(+), 1 deletion(-)
create mode 100644 MavLink_FrSkySPort/Average.ino
create mode 100644 MavLink_FrSkySPort/FrSkySPort.h
create mode 100644 MavLink_FrSkySPort/FrSkySPort.ino
create mode 100644 MavLink_FrSkySPort/MavLink_FrSkySPort.ino
create mode 100644 libraries/GCS_MAVLink/GCS_MAVLink.cpp
create mode 100644 libraries/GCS_MAVLink/GCS_MAVLink.h
create mode 100644 libraries/GCS_MAVLink/generate.sh
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_control.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_status.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_hwstatus.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_limits_status.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_meminfo.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_configure.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_control.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_status.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_simstate.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/checksum.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/common.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_attitude.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_attitude_quaternion.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_auth_key.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control_ack.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_command_ack.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_command_long.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_data_stream.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_debug.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_debug_vect.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_global_position_int.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_int.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_gps_status.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_heartbeat.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_hil_controls.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_hil_rc_inputs_raw.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned_system_global_offset.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_local_position_setpoint.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_memory_vect.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_ack.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_clear_all.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_count.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_current.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_item.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_item_reached.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_request.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_request_list.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_request_partial_list.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_set_current.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_write_partial_list.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_named_value_float.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_named_value_int.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_optical_flow.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_request_list.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_request_read.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_set.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_value.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_ping.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_raw_imu.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_raw_pressure.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_override.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_request_data_stream.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_safety_allowed_area.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_safety_set_allowed_area.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_scaled_pressure.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_global_position_setpoint_int.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_gps_global_origin.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_mode.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_quad_motors_setpoint.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_state_correction.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_statustext.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_sys_status.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_system_time.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vfr_hud.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/testsuite.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_protobuf_manager.hpp
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_types.h
create mode 100644 libraries/GCS_MAVLink/include/mavlink/v1.0/protocol.h
create mode 100644 libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
create mode 100644 libraries/GCS_MAVLink/message_definitions/common.xml
create mode 100644 libraries/GCS_MAVLink/message_definitions/matrixpilot.xml
create mode 100644 libraries/GCS_MAVLink/message_definitions/minimal.xml
create mode 100644 libraries/GCS_MAVLink/message_definitions/pixhawk.xml
create mode 100644 libraries/GCS_MAVLink/message_definitions/sensesoar.xml
create mode 100644 libraries/GCS_MAVLink/message_definitions/slugs.xml
create mode 100644 libraries/GCS_MAVLink/message_definitions/test.xml
create mode 100644 libraries/GCS_MAVLink/message_definitions/ualberta.xml
create mode 100644 libraries/readme.txt
diff --git a/MavLink_FrSkySPort/Average.ino b/MavLink_FrSkySPort/Average.ino
new file mode 100644
index 0000000..4e9b258
--- /dev/null
+++ b/MavLink_FrSkySPort/Average.ino
@@ -0,0 +1,231 @@
+
+uint16_t Volt_AverageBuffer[10];
+uint16_t Current_AverageBuffer[10];
+
+// Used to calculate an average vibration level using accelerometers
+#define accBufferSize 5
+int32_t accXBuffer[accBufferSize];
+int32_t accYBuffer[accBufferSize];
+int32_t accZBuffer[accBufferSize];
+int nrSamplesX = 0;
+int nrSamplesY = 0;
+int nrSamplesZ = 0;
+
+// Used to calculate the average voltage/current between each frksy poll-request.
+// A bit overkill since we most of the time only receive one sample from mavlink between each poll.
+// voltageMinimum is used to report the lowest value received through mavlink between each poll frsky poll-request.
+uint32_t currentSum = 0;
+uint16_t currentCount = 0;
+uint32_t voltageSum = 0;
+uint16_t voltageCount = 0;
+uint16_t voltageMinimum = 0;
+
+// Don't respond to FAS/FLVSS request until it looks like the voltage received through mavlink as stabilized.
+// This is a try to eliminate most of the low voltage alarms recevied upon model power up.
+boolean voltageStabilized = false;
+uint16_t voltageLast = 0;
+
+// Store a voltage reading received through mavlink
+void storeVoltageReading(uint16_t value)
+{
+ // Try to determine if the voltage has stabilized
+ if(voltageStabilized == false)
+ {
+ // if we have a mavlink voltage, and its less then 0.5V higher then the last sample we got
+ if(value > 3000 && (value - voltageLast)<500)
+ {
+ // The voltage seems to have stabilized
+ voltageStabilized = true;
+ }
+ else
+ {
+ // Reported voltage seems to still increase. Save this sample
+ voltageLast = value;
+ }
+ return;
+ }
+
+ // Store this reading so we can return the average if we get multiple readings between the polls
+ voltageSum += value;
+ voltageCount++;
+ // Update the minimu voltage if this is lover
+ if(voltageMinimum < 1 || value < voltageMinimum)
+ voltageMinimum = value;
+}
+
+// Store a current reading received through mavlink
+void storeCurrentReading(uint16_t value)
+{
+ // Only store if the voltage seems to have stabilized
+ if(!voltageStabilized)
+ return;
+ currentSum += value;
+ currentCount++;
+}
+
+// Calculates and returns the average voltage value received through mavlink since the last time this function was called.
+// After the function is called the average is cleared.
+// Return 0 if we have no voltage reading
+uint16_t readAndResetAverageVoltage()
+{
+ if(voltageCount < 1)
+ return 0;
+
+
+ uint16_t avg = voltageSum / voltageCount;
+
+ voltageSum = 0;
+ voltageCount = 0;
+
+ return avg;
+}
+
+// Return the lowest voltage reading received through mavlink since the last time function was called.
+// After the function is called the value is cleard.
+// Return 0 if we have no new reading
+uint16_t readAndResetMinimumVoltage()
+{
+ uint16_t tmp = voltageMinimum;
+ voltageMinimum = 0;
+ return tmp;
+}
+
+// Calculates and returns the average current value received through mavlink since the last time this function was called.
+// After the function is called the average is cleared.
+// Return 0 if we have no voltage reading
+uint16_t readAndResetAverageCurrent()
+{
+ if(currentCount < 1)
+ return 0;
+ uint16_t avg = currentSum / currentCount;
+
+ currentSum = 0;
+ currentCount = 0;
+
+ return avg;
+}
+
+//returns the average of Voltage for the 10 last values
+uint32_t Get_Volt_Average(uint16_t value) {
+ uint8_t i;
+ uint32_t sum=0;
+
+ for(i=9;i>0;i--) {
+ Volt_AverageBuffer[i]=Volt_AverageBuffer[i-1];
+ sum+=Volt_AverageBuffer[i];
+ }
+ Volt_AverageBuffer[0]=value;
+ return (sum+=value)/10;
+}
+
+//returns the average of Current for the 10 last values
+uint32_t Get_Current_Average(uint16_t value) {
+ uint8_t i;
+ uint32_t sum=0;
+
+ for(i=9;i>0;i--) {
+ Current_AverageBuffer[i]=Current_AverageBuffer[i-1];
+ sum+=Current_AverageBuffer[i];
+ }
+ Current_AverageBuffer[0]=value;
+ return (sum+=value)/10;
+}
+
+void storeAccX(int32_t value)
+{
+ if(nrSamplesX < accBufferSize)
+ {
+ nrSamplesX++;
+ }
+ uint8_t i;
+ for(i=accBufferSize-1;i>0;i--)
+ {
+ accXBuffer[i]=accXBuffer[i-1];
+ }
+ accXBuffer[0] = value;
+}
+void storeAccY(int32_t value)
+{
+ if(nrSamplesY < accBufferSize)
+ {
+ nrSamplesY++;
+ }
+ uint8_t i;
+ for(i=accBufferSize-1;i>0;i--)
+ {
+ accYBuffer[i]=accYBuffer[i-1];
+ }
+ accYBuffer[0] = value;
+}
+void storeAccZ(int32_t value)
+{
+ if(nrSamplesZ < accBufferSize)
+ {
+ nrSamplesZ++;
+ }
+ uint8_t i;
+ for(i=accBufferSize-1;i>0;i--)
+ {
+ accZBuffer[i]=accZBuffer[i-1];
+ }
+ accZBuffer[0] = value;
+}
+
+int32_t fetchAccX()
+{
+ int32_t min=32000;
+ int32_t max=-32000;
+ for(int i=0; i<nrSamplesX; i++)
+ {
+ if(accXBuffer[i]<min)
+ {
+ min = accXBuffer[i];
+ }
+ if(accXBuffer[i]>max)
+ {
+ max = accXBuffer[i];
+ }
+ }
+ return max - min;
+}
+
+int32_t fetchAccY()
+{
+ int32_t min=32000;
+ int32_t max=-32000;
+ for(int i=0; i<nrSamplesY; i++)
+ {
+ if(accYBuffer[i]<min)
+ {
+ min = accYBuffer[i];
+ }
+ if(accYBuffer[i]>max)
+ {
+ max = accYBuffer[i];
+ }
+ }
+ return max - min;
+}
+
+int32_t fetchAccZ()
+{
+ int32_t min=32000;
+ int32_t max=-32000;
+ for(int i=0; i<nrSamplesZ; i++)
+ {
+ if(accZBuffer[i]<min)
+ {
+ min = accZBuffer[i];
+ }
+ if(accZBuffer[i]>max)
+ {
+ max = accZBuffer[i];
+ }
+ }
+ return max - min;
+}
+
+
+
+
+
diff --git a/MavLink_FrSkySPort/FrSkySPort.h b/MavLink_FrSkySPort/FrSkySPort.h
new file mode 100644
index 0000000..52f7e5e
--- /dev/null
+++ b/MavLink_FrSkySPort/FrSkySPort.h
@@ -0,0 +1,34 @@
+// Frsky Sensor-ID to use.
+#define SENSOR_ID_FLVSS 0x1B
+#define SENSOR_ID_VARIO 0x00
+#define SENSOR_ID_FAS 0x22
+#define SENSOR_ID_GPS 0x83
+#define SENSOR_ID_RPM 0xE4
+// Frsky-specific
+#define START_STOP 0x7e
+#define DATA_FRAME 0x10
+
+
+//Frsky DATA ID's
+#define FR_ID_SPEED 0x0830
+#define FR_ID_VFAS 0x0210
+#define FR_ID_CURRENT 0x0200
+#define FR_ID_RPM 0x050F
+#define FR_ID_ALTITUDE 0x0100
+#define FR_ID_FUEL 0x0600
+#define FR_ID_ADC1 0xF102
+#define FR_ID_ADC2 0xF103
+#define FR_ID_LATLONG 0x0800
+#define FR_ID_CAP_USED 0x0600
+#define FR_ID_VARIO 0x0110
+#define FR_ID_CELLS 0x0300
+#define FR_ID_CELLS_LAST 0x030F
+#define FR_ID_HEADING 0x0840
+#define FR_ID_ACCX 0x0700
+#define FR_ID_ACCY 0x0710
+#define FR_ID_ACCZ 0x0720
+#define FR_ID_T1 0x0400
+#define FR_ID_T2 0x0410
+#define FR_ID_GPS_ALT 0x0820
+
+
diff --git a/MavLink_FrSkySPort/FrSkySPort.ino b/MavLink_FrSkySPort/FrSkySPort.ino
new file mode 100644
index 0000000..f4308c1
--- /dev/null
+++ b/MavLink_FrSkySPort/FrSkySPort.ino
@@ -0,0 +1,281 @@
+#include "FrSkySPort.h"
+#include <SoftwareSerial.h>
+
+SoftwareSerial _FrSkySPort_Serial(9, 9,true); // RX, TX
+//#define _FrSkySPort_C1 UART0_C1
+//#define _FrSkySPort_C3 UART0_C3
+//#define _FrSkySPort_S2 UART0_S2
+#define _FrSkySPort_BAUD 57600
+
+short crc; // used for crc calc of frsky-packet
+boolean waitingForSensorId = false;
+uint8_t cell_count = 0;
+uint8_t latlong_flag = 0;
+uint32_t latlong = 0;
+
+uint8_t nextFLVSS = 0;
+uint8_t nextFAS = 0;
+uint8_t nextVARIO = 0;
+uint8_t nextGPS = 0;
+uint8_t nextDefault = 0;
+// ***********************************************************************
+void FrSkySPort_Init(void) {
+ _FrSkySPort_Serial.begin(_FrSkySPort_BAUD);
+ // _FrSkySPort_C3 = 0x10; // Tx invert
+ //_FrSkySPort_C1= 0xA0; // Single wire mode
+ // _FrSkySPort_S2 = 0x10; // Rx Invert
+
+}
+
+// ***********************************************************************
+void FrSkySPort_Process(void) {
+ uint8_t data = 0;
+ uint32_t temp=0;
+ uint8_t offset;
+ while ( _FrSkySPort_Serial.available())
+ {
+ data = _FrSkySPort_Serial.read();
+
+ if(data == START_STOP)
+ {
+ waitingForSensorId = true;
+ continue;
+ }
+ if(!waitingForSensorId)
+ continue;
+
+ FrSkySPort_ProcessSensorRequest(data);
+
+ waitingForSensorId = false;
+ }
+}
+
+// ***********************************************************************
+uint16_t sendValueFlvssVoltage = 0;
+uint16_t sendValueFASCurrent = 0;
+uint16_t sendValueFASVoltage = 0;
+void FrSkySPort_ProcessSensorRequest(uint8_t sensorId)
+{
+ uint32_t temp=0;
+ uint8_t offset;
+ switch(sensorId)
+ {
+ case SENSOR_ID_FLVSS:
+ {
+ printDebugPackageSend("FLVSS", nextFLVSS+1, 3);
+ // We need cells to continue
+ if(ap_cell_count < 1)
+ break;
+ // Make sure all the cells gets updated from the same voltage average
+ if(nextFLVSS == 0)
+ {
+ sendValueFlvssVoltage = readAndResetMinimumVoltage();
+ }
+ // Only respond to request if we have a value
+ if(sendValueFlvssVoltage < 1)
+ break;
+
+ switch(nextFLVSS)
+ {
+ case 0:
+ if(ap_cell_count > 0)
+ {
+ // First 2 cells
+ offset = 0x00 | ((ap_cell_count & 0xF)<<4);
+ temp=((sendValueFlvssVoltage/(ap_cell_count * 2)) & 0xFFF);
+ FrSkySPort_SendPackage(FR_ID_CELLS,(temp << 20) | (temp << 8) | offset); // Battery cell 0,1
+ }
+ break;
+ case 1:
+ // Optional 3 and 4 Cells
+ if(ap_cell_count > 2) {
+ offset = 0x02 | ((ap_cell_count & 0xF)<<4);
+ temp=((sendValueFlvssVoltage/(ap_cell_count * 2)) & 0xFFF);
+ FrSkySPort_SendPackage(FR_ID_CELLS,(temp << 20) | (temp << 8) | offset); // Battery cell 2,3
+ }
+ break;
+ case 2: // Optional 5 and 6 Cells
+ if(ap_cell_count > 4) {
+ offset = 0x04 | ((ap_cell_count & 0xF)<<4);
+ temp=((sendValueFlvssVoltage/(ap_cell_count * 2)) & 0xFFF);
+ FrSkySPort_SendPackage(FR_ID_CELLS,(temp << 20) | (temp << 8) | offset); // Battery cell 2,3
+ }
+ break;
+ }
+ nextFLVSS++;
+ if(nextFLVSS>2)
+ nextFLVSS=0;
+ }
+ break;
+ case SENSOR_ID_VARIO:
+ {
+ printDebugPackageSend("VARIO", nextVARIO+1, 2);
+ switch(nextVARIO)
+ {
+ case 0:
+ FrSkySPort_SendPackage(FR_ID_VARIO,ap_climb_rate ); // 100 = 1m/s
+ break;
+ case 1:
+ FrSkySPort_SendPackage(FR_ID_ALTITUDE,ap_bar_altitude); // from barometer, 100 = 1m
+ break;
+ }
+ if(++nextVARIO > 1)
+ nextVARIO = 0;
+ }
+ break;
+ case SENSOR_ID_FAS:
+ {
+ printDebugPackageSend("FAS", nextFAS+1, 2);
+ if(nextFAS == 0)
+ {
+ sendValueFASVoltage = readAndResetAverageVoltage();
+ sendValueFASCurrent = readAndResetAverageCurrent();
+ }
+ if(sendValueFASVoltage < 1)
+ break;
+ switch(nextFAS)
+ {
+ case 0:
+ FrSkySPort_SendPackage(FR_ID_VFAS,sendValueFASVoltage/10); // Sends voltage as a VFAS value
+ break;
+ case 1:
+ FrSkySPort_SendPackage(FR_ID_CURRENT, sendValueFASCurrent / 10);
+ break;
+ }
+ if(++nextFAS > 1)
+ nextFAS = 0;
+ }
+ break;
+ case SENSOR_ID_GPS:
+ {
+ printDebugPackageSend("GPS", nextGPS+1, 4);
+ switch(nextGPS)
+ {
+ case 0: // Sends the ap_longitude value, setting bit 31 high
+ if(ap_fixtype==3) {
+ if(ap_longitude < 0)
+ latlong=((abs(ap_longitude)/100)*6) | 0xC0000000;
+ else
+ latlong=((abs(ap_longitude)/100)*6) | 0x80000000;
+ FrSkySPort_SendPackage(FR_ID_LATLONG,latlong);
+ }
+ break;
+ case 1: // Sends the ap_latitude value, setting bit 31 low
+ if(ap_fixtype==3) {
+ if(ap_latitude < 0 )
+ latlong=((abs(ap_latitude)/100)*6) | 0x40000000;
+ else
+ latlong=((abs(ap_latitude)/100)*6);
+ FrSkySPort_SendPackage(FR_ID_LATLONG,latlong);
+ }
+ break;
+ case 2:
+ if(ap_fixtype==3) {
+ FrSkySPort_SendPackage(FR_ID_GPS_ALT,ap_gps_altitude / 10); // from GPS, 100=1m
+ }
+ case 3:
+ if(ap_fixtype==3) {
+ // FrSkySPort_SendPackage(FR_ID_SPEED,ap_groundspeed *20 ); // from GPS converted to km/h
+ FrSkySPort_SendPackage(FR_ID_SPEED,ap_gps_speed *20 ); // from GPS converted to km/h
+ }
+ }
+ if(++nextGPS > 3)
+ nextGPS = 0;
+ }
+ break;
+ case SENSOR_ID_RPM:
+ printDebugPackageSend("RPM", 1, 1);
+ FrSkySPort_SendPackage(FR_ID_RPM,ap_throttle * 2); // * 2 if number of blades on Taranis is set to 2
+ break;
+ // Since I don't know the app-id for these values, I just use these two "random"
+ case 0x45:
+ case 0xC6:
+ switch(nextDefault)
+ {
+ case 0: // Sends the compass heading
+ FrSkySPort_SendPackage(FR_ID_HEADING,ap_heading * 100); // 10000 = 100 deg
+ break;
+ case 1: // Sends the analog value from input A0 on Teensy 3.1
+ FrSkySPort_SendPackage(FR_ID_ADC2,adc2); //float?
+ break;
+ case 2:
+ FrSkySPort_SendPackage(FR_ID_ACCX,ap_hdop); //float?
+ break;
+ case 3:
+ FrSkySPort_SendPackage(FR_ID_ACCY, fetchAccY());
+ break;
+ case 4:
+ FrSkySPort_SendPackage(FR_ID_ACCZ, fetchAccZ());
+ break;
+ case 5:
+ FrSkySPort_SendPackage(FR_ID_T1,gps_status);
+ break;
+ case 6:
+ FrSkySPort_SendPackage(FR_ID_T2,ap_base_mode);
+ break;
+ case 7:
+ FrSkySPort_SendPackage(FR_ID_FUEL,ap_custom_mode);
+ break;
+ }
+ if(++nextDefault > 7)
+ nextDefault = 0;
+ default:
+#ifdef DEBUG_FRSKY_SENSOR_REQUEST
+
+#endif
+ ;
+ }
+}
+
+// ***********************************************************************
+void printDebugPackageSend(char* pkg_name, uint8_t pkg_nr, uint8_t pkg_max)
+{
+#ifdef DEBUG_FRSKY_SENSOR_REQUEST
+
+#endif
+}
+
+
+// ***********************************************************************
+void FrSkySPort_SendByte(uint8_t byte) {
+
+ _FrSkySPort_Serial.write(byte);
+
+ // CRC update
+ crc += byte; //0-1FF
+ crc += crc >> 8; //0-100
+ crc &= 0x00ff;
+ crc += crc >> 8; //0-0FF
+ crc &= 0x00ff;
+}
+
+
+// ***********************************************************************
+void FrSkySPort_SendCrc() {
+ _FrSkySPort_Serial.write(0xFF-crc);
+ crc = 0; // CRC reset
+}
+
+
+// ***********************************************************************
+void FrSkySPort_SendPackage(uint16_t id, uint32_t value) {
+
+ if(MavLink_Connected) {
+ digitalWrite(led,HIGH);
+ }
+ // _FrSkySPort_C3 |= 32; // Transmit direction, to S.Port
+ FrSkySPort_SendByte(DATA_FRAME);
+ uint8_t *bytes = (uint8_t*)&id;
+ FrSkySPort_SendByte(bytes[0]);
+ FrSkySPort_SendByte(bytes[1]);
+ bytes = (uint8_t*)&value;
+ FrSkySPort_SendByte(bytes[0]);
+ FrSkySPort_SendByte(bytes[1]);
+ FrSkySPort_SendByte(bytes[2]);
+ FrSkySPort_SendByte(bytes[3]);
+ FrSkySPort_SendCrc();
+ _FrSkySPort_Serial.flush();
+ // _FrSkySPort_C3 ^= 32; // Transmit direction, from S.Port
+
+ digitalWrite(led,LOW);
+}
diff --git a/MavLink_FrSkySPort/MavLink_FrSkySPort.ino b/MavLink_FrSkySPort/MavLink_FrSkySPort.ino
new file mode 100644
index 0000000..cb56a5e
--- /dev/null
+++ b/MavLink_FrSkySPort/MavLink_FrSkySPort.ino
@@ -0,0 +1,424 @@
+
+/*
+APM2.5 Mavlink to FrSky X8R SPort interface using Teensy 3.1 http://www.pjrc.com/teensy/index.html
+ based on ideas found here http://code.google.com/p/telemetry-convert/
+ ******************************************************
+ Cut board on the backside to separate Vin from VUSB
+
+ Connection on Teensy 3.1:
+ SPort S --> TX1
+ SPort + --> Vin
+ SPort - --> GND
+
+ APM Telemetry DF13-5 Pin 2 --> RX2
+ APM Telemetry DF13-5 Pin 3 --> TX2
+ APM Telemetry DF13-5 Pin 5 --> GND
+
+ Analog input --> A0 (pin14) on Teensy 3.1 ( max 3.3 V )
+
+
+ This is the data we send to FrSky, you can change this to have your own
+ set of data
+ ******************************************************
+ Data transmitted to FrSky Taranis:
+ Cell ( Voltage of Cell=Cells/4. [V] This is my LiPo pack 4S )
+ Cells ( Voltage from LiPo [V] )
+ A2 ( Analog voltage from input A0 on Teensy 3.1 )
+ Alt ( Altitude from baro. [m] )
+ GAlt ( Altitude from GPS [m])
+ HDG ( Compass heading [deg])
+ Rpm ( Throttle when ARMED [%] )
+ AccX ( AccX m/s ? )
+ AccY ( AccY m/s ? )
+ AccZ ( AccZ m/s ? )
+ VSpd ( Vertical speed [m/s] )
+ Speed ( Ground speed from GPS, [km/h] )
+ T1 ( GPS status = ap_sat_visible*10) + ap_fixtype )
+ T2 ( ARMED=1, DISARMED=0 )
+ Vfas ( same as Cells )
+ Longitud
+ Latitud
+ Dist ( Will be calculated by FrSky Taranis as the distance from first received lat/long = Home Position
+
+ ******************************************************
+
+ */
+
+#include <GCS_MAVLink.h>
+#include "FrSkySPort.h"
+////////////////////////////////
+
+#define _MavLinkSerial Serial1
+#define START 1
+#define MSG_RATE 10 // Hertz
+
+//#define DEBUG_VFR_HUD
+//#define DEBUG_GPS_RAW
+//#define DEBUG_ACC
+//#define DEBUG_BAT
+//#define DEBUG_FRSKY_SENSOR_REQUEST
+
+
+// ******************************************
+// Message #0 HEARTHBEAT
+uint8_t ap_type = 0;
+uint8_t ap_autopilot = 0;
+uint8_t ap_base_mode = 0;
+int32_t ap_hdop = 0;
+uint32_t ap_custom_mode = 0;
+uint8_t ap_system_status = 0;
+uint8_t ap_mavlink_version = 0;
+
+// Message # 1 SYS_STATUS
+uint16_t ap_voltage_battery = 0; // 1000 = 1V
+int16_t ap_current_battery = 0; // 10 = 1A
+
+// Message #24 GPS_RAW_INT
+uint8_t ap_fixtype = 3; // 0= No GPS, 1 = No Fix, 2 = 2D Fix, 3 = 3D Fix
+uint8_t ap_sat_visible = 0; // numbers of visible satelites
+// FrSky Taranis uses the first recieved lat/long as homeposition.
+int32_t ap_latitude = 0; // 585522540;
+int32_t ap_longitude = 0; // 162344467;
+int32_t ap_gps_altitude = 0; // 1000 = 1m
+int32_t ap_gps_speed = 0;
+
+// Message #74 VFR_HUD
+uint32_t ap_groundspeed = 0;
+uint32_t ap_heading = 0;
+uint16_t ap_throttle = 0;
+
+// FrSky Taranis uses the first recieved value after 'PowerOn' or 'Telemetry Reset' as zero altitude
+int32_t ap_bar_altitude = 0; // 100 = 1m
+int32_t ap_climb_rate=0; // 100= 1m/s
+
+// ******************************************
+// These are special for FrSky
+int32_t adc2 = 0; // 100 = 1.0V
+int32_t vfas = 0; // 100 = 1,0V
+int32_t gps_status = 0; // (ap_sat_visible * 10) + ap_fixtype
+// ex. 83 = 8 sattelites visible, 3D lock
+uint8_t ap_cell_count = 0;
+
+// ******************************************
+uint8_t MavLink_Connected;
+uint8_t buf[MAVLINK_MAX_PACKET_LEN];
+
+uint16_t hb_count;
+
+unsigned long MavLink_Connected_timer;
+unsigned long hb_timer;
+
+int led = 13;
+
+mavlink_message_t msg;
+
+// ******************************************
+void setup() {
+
+ FrSkySPort_Init();
+ _MavLinkSerial.begin(57600);
+ MavLink_Connected = 0;
+ MavLink_Connected_timer=millis();
+ hb_timer = millis();
+ hb_count = 0;
+
+ pinMode(led,OUTPUT);
+ pinMode(12,OUTPUT);
+
+ pinMode(14,INPUT);
+ analogReference(DEFAULT);
+
+}
+
+
+// ******************************************
+void loop() {
+ uint16_t len;
+
+ if(millis()-hb_timer > 1500) {
+ hb_timer=millis();
+ if(!MavLink_Connected) { // Start requesting data streams from MavLink
+ digitalWrite(led,HIGH);
+ mavlink_msg_request_data_stream_pack(0xFF,0xBE,&msg,1,1,MAV_DATA_STREAM_EXTENDED_STATUS, MSG_RATE, START);
+ len = mavlink_msg_to_send_buffer(buf, &msg);
+ _MavLinkSerial.write(buf,len);
+ delay(10);
+ mavlink_msg_request_data_stream_pack(0xFF,0xBE,&msg,1,1,MAV_DATA_STREAM_EXTRA2, MSG_RATE, START);
+ len = mavlink_msg_to_send_buffer(buf, &msg);
+ _MavLinkSerial.write(buf,len);
+ delay(10);
+ mavlink_msg_request_data_stream_pack(0xFF,0xBE,&msg,1,1,MAV_DATA_STREAM_RAW_SENSORS, MSG_RATE, START);
+ len = mavlink_msg_to_send_buffer(buf, &msg);
+ _MavLinkSerial.write(buf,len);
+ digitalWrite(led,LOW);
+ }
+ }
+
+ if((millis() - MavLink_Connected_timer) > 1500) { // if no HEARTBEAT from APM in 1.5s then we are not connected
+ MavLink_Connected=0;
+ hb_count = 0;
+ }
+
+ _MavLink_receive(); // Check MavLink communication
+
+ FrSkySPort_Process(); // Check FrSky S.Port communication
+
+ adc2 =analogRead(0)/4; // Read ananog value from A0 (Pin 14). ( Will be A2 value on FrSky LCD)
+
+
+}
+
+
+void _MavLink_receive() {
+ mavlink_message_t msg;
+ mavlink_status_t status;
+
+ while(_MavLinkSerial.available())
+ {
+ uint8_t c = _MavLinkSerial.read();
+ if(mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status))
+ {
+ switch(msg.msgid)
+ {
+ case MAVLINK_MSG_ID_HEARTBEAT: // 0
+ ap_base_mode = (mavlink_msg_heartbeat_get_base_mode(&msg) & 0x80) > 7;
+ ap_custom_mode = mavlink_msg_heartbeat_get_custom_mode(&msg);
+ MavLink_Connected_timer=millis();
+ if(!MavLink_Connected);
+ {
+ hb_count++;
+ if((hb_count++) > 10) { // If received > 10 heartbeats from MavLink then we are connected
+ MavLink_Connected=1;
+ hb_count=0;
+ digitalWrite(led,HIGH); // LED will be ON when connected to MavLink, else it will slowly blink
+ }
+ }
+ break;
+ case MAVLINK_MSG_ID_SYS_STATUS : // 1
+ ap_voltage_battery = Get_Volt_Average(mavlink_msg_sys_status_get_voltage_battery(&msg)); // 1 = 1mV
+ ap_current_battery = Get_Current_Average(mavlink_msg_sys_status_get_current_battery(&msg)); // 1=10mA
+
+ storeVoltageReading(ap_voltage_battery);
+ storeCurrentReading(ap_current_battery);
+#ifdef DEBUG_BAT
+
+#endif
+ uint8_t temp_cell_count;
+ if(ap_voltage_battery > 21000) temp_cell_count = 6;
+ else if (ap_voltage_battery > 17500) temp_cell_count = 5;
+ else if(ap_voltage_battery > 12750) temp_cell_count = 4;
+ else if(ap_voltage_battery > 8500) temp_cell_count = 3;
+ else if(ap_voltage_battery > 4250) temp_cell_count = 2;
+ else temp_cell_count = 0;
+ if(temp_cell_count > ap_cell_count)
+ ap_cell_count = temp_cell_count;
+ break;
+ case MAVLINK_MSG_ID_GPS_RAW_INT: // 24
+ ap_fixtype = mavlink_msg_gps_raw_int_get_fix_type(&msg); // 0 = No GPS, 1 =No Fix, 2 = 2D Fix, 3 = 3D Fix
+ ap_sat_visible = mavlink_msg_gps_raw_int_get_satellites_visible(&msg); // numbers of visible satelites
+ ap_hdop = mavlink_msg_gps_raw_int_get_eph(&msg); // GPS H.DOP
+ gps_status = ap_sat_visible;
+ if(ap_fixtype == 3) {
+ ap_latitude = mavlink_msg_gps_raw_int_get_lat(&msg);
+ ap_longitude = mavlink_msg_gps_raw_int_get_lon(&msg);
+ ap_gps_altitude = mavlink_msg_gps_raw_int_get_alt(&msg); // 1m =1000
+ ap_gps_speed = mavlink_msg_gps_raw_int_get_vel(&msg); // 100 = 1m/s
+ }
+ else
+ {
+ ap_gps_speed = 0;
+ }
+#ifdef DEBUG_GPS_RAW
+
+#endif
+ break;
+ case MAVLINK_MSG_ID_RAW_IMU: // 27
+ storeAccX(mavlink_msg_raw_imu_get_xacc(&msg) / 10);
+ storeAccY(mavlink_msg_raw_imu_get_yacc(&msg) / 10);
+ storeAccZ(mavlink_msg_raw_imu_get_zacc(&msg) / 10);
+
+#ifdef DEBUG_ACC
+
+
+#endif
+ break;
+ case MAVLINK_MSG_ID_VFR_HUD: // 74
+ ap_groundspeed = mavlink_msg_vfr_hud_get_groundspeed(&msg); // 100 = 1m/s
+ ap_heading = mavlink_msg_vfr_hud_get_heading(&msg); // 100 = 100 deg
+ ap_throttle = mavlink_msg_vfr_hud_get_throttle(&msg); // 100 = 100%
+ ap_bar_altitude = mavlink_msg_vfr_hud_get_alt(&msg) * 100; // m
+ ap_climb_rate=mavlink_msg_vfr_hud_get_climb(&msg) * 100; // m/s
+#ifdef DEBUG_VFR_HUD
+
+#endif
+ break;
+ default:
+ break;
+ }
+
+ }
+ }
+}
+
+
+
+void play_rtttl(char *p)
+{
+ // Absolutely no error checking in here
+
+ byte default_dur = 4;
+ byte default_oct = 6;
+ int bpm = 63;
+ int num;
+ long wholenote;
+ long duration;
+ byte note;
+ byte scale;
+
+ // format: d=N,o=N,b=NNN:
+ // find the start (skip name, etc)
+
+ while(*p != ':') p++; // ignore name
+ p++; // skip ':'
+
+ // get default duration
+ if(*p == 'd')
+ {
+ p++; p++; // skip "d="
+ num = 0;
+ while(isdigit(*p))
+ {
+ num = (num * 10) + (*p++ - '0');
+ }
+ if(num > 0) default_dur = num;
+ p++; // skip comma
+ }
+
+ // get default octave
+ if(*p == 'o')
+ {
+ p++; p++; // skip "o="
+ num = *p++ - '0';
+ if(num >= 3 && num <=7) default_oct = num;
+ p++; // skip comma
+ }
+
+
+
+ // get BPM
+ if(*p == 'b')
+ {
+ p++; p++; // skip "b="
+ num = 0;
+ while(isdigit(*p))
+ {
+ num = (num * 10) + (*p++ - '0');
+ }
+ bpm = num;
+ p++; // skip colon
+ }
+
+ // BPM usually expresses the number of quarter notes per minute
+ wholenote = (60 * 1000L / bpm) * 4; // this is the time for whole note (in milliseconds)
+
+
+
+
+ // now begin note loop
+ while(*p)
+ {
+ // first, get note duration, if available
+ num = 0;
+ while(isdigit(*p))
+ {
+ num = (num * 10) + (*p++ - '0');
+ }
+
+ if(num) duration = wholenote / num;
+ else duration = wholenote / default_dur; // we will need to check if we are a dotted note after
+
+ // now get the note
+ note = 0;
+
+ switch(*p)
+ {
+ case 'c':
+ note = 1;
+ break;
+ case 'd':
+ note = 3;
+ break;
+ case 'e':
+ note = 5;
+ break;
+ case 'f':
+ note = 6;
+ break;
+ case 'g':
+ note = 8;
+ break;
+ case 'a':
+ note = 10;
+ break;
+ case 'b':
+ note = 12;
+ break;
+ case 'p':
+ default:
+ note = 0;
+ }
+ p++;
+
+ // now, get optional '#' sharp
+ if(*p == '#')
+ {
+ note++;
+ p++;
+ }
+
+ // now, get optional '.' dotted note
+ if(*p == '.')
+ {
+ duration += duration/2;
+ p++;
+ }
+
+ // now, get scale
+ if(isdigit(*p))
+ {
+ scale = *p - '0';
+ p++;
+ }
+ else
+ {
+ scale = default_oct;
+ }
+
+ scale += OCTAVE_OFFSET;
+
+ if(*p == ',')
+ p++; // skip comma for next note (or we may be at the end)
+
+ // now play the note
+
+ if(note)
+ {
+
+ tone1.play(notes[(scale - 4) * 12 + note]);
+ delay(duration);
+ tone1.stop();
+ }
+ else
+ {
+
+ delay(duration);
+ }
+ }
+}
+
+
+
+
+
+
+
diff --git a/README.md b/README.md
index 7b84697..4d6d959 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,25 @@
Mavlink2Frsky
=============
-Converts Mavlink packets to Frsky S.Port Useing Software serial
+Converts Mavlink packets to Frsky S.Port Using Software serial
+
+Based on the work of Rolf Blomgren this is just a small edit to allow use for any Arduino not just Teensy's.
+
+Lost acclx in exchange for GPS H.Dop
+
+
+Also added some fixed by "chsw" - Christian
+
+- Acc X/Y/Z reports the average vibrations (difference between max/min) instead of actual accelerometer values.
+- Reports gps-speed instead of hud-speed.
+- Change how the code responds to tx telemetry requests. This fixes the missing cell/cells in the latest open-tx versions.
+- Updated the cell detection to minimize the risk of detecting to many cells (unless the battery is low upon connection)
+ and changing the cell count inflight when the battery voltage drops.
+- Changed the averaging for voltage/current to be more accurate to the voltage/current fluctuations. Hoping of increasing the
+ accurasy of the mAh-counter. Use FAS as both voltage/current source.
+- Delays sending the voltage/current until the voltage reading through mavlink has stabilized. This should minimize the false
+ low battery-warnings upon model powerup.
+
+
+connect the S.port data line to D9
+
diff --git a/libraries/GCS_MAVLink/GCS_MAVLink.cpp b/libraries/GCS_MAVLink/GCS_MAVLink.cpp
new file mode 100644
index 0000000..4d9ce7c
--- /dev/null
+++ b/libraries/GCS_MAVLink/GCS_MAVLink.cpp
@@ -0,0 +1,50 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+/// @file GCS_MAVLink.cpp
+
+/*
+This provides some support code and variables for MAVLink enabled sketches
+
+This firmware is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+*/
+
+//#include <FastSerial.h>
+//#include <AP_Common.h>
+#include <GCS_MAVLink.h>
+
+
+Stream *mavlink_comm_0_port;
+Stream *mavlink_comm_1_port;
+
+mavlink_system_t mavlink_system = {12,1,0,0}; //modified
+
+uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
+{
+ if (sysid != mavlink_system.sysid)
+ return 1;
+ // Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
+ // If it is addressed to our system ID we assume it is for us
+ return 0; // no error
+}
+
+/*
+// return a MAVLink variable type given a AP_Param type
+uint8_t mav_var_type(enum ap_var_type t)
+{
+ if (t == AP_PARAM_INT8) {
+ return MAVLINK_TYPE_INT8_T;
+ }
+ if (t == AP_PARAM_INT16) {
+ return MAVLINK_TYPE_INT16_T;
+ }
+ if (t == AP_PARAM_INT32) {
+ return MAVLINK_TYPE_INT32_T;
+ }
+ // treat any others as float
+ return MAVLINK_TYPE_FLOAT;
+}
+
+*/
diff --git a/libraries/GCS_MAVLink/GCS_MAVLink.h b/libraries/GCS_MAVLink/GCS_MAVLink.h
new file mode 100644
index 0000000..05b46a9
--- /dev/null
+++ b/libraries/GCS_MAVLink/GCS_MAVLink.h
@@ -0,0 +1,126 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+/// @file GCS_MAVLink.h
+/// @brief One size fits all header for MAVLink integration.
+
+#ifndef GCS_MAVLink_h
+#define GCS_MAVLink_h
+
+#include <Stream.h>
+
+
+//#include <BetterStream.h>
+
+// we have separate helpers disabled to make it possible
+// to select MAVLink 1.0 in the arduino GUI build
+//#define MAVLINK_SEPARATE_HELPERS
+
+#include "include/mavlink/v1.0/ardupilotmega/version.h"
+
+// this allows us to make mavlink_message_t much smaller
+#define MAVLINK_MAX_PAYLOAD_LEN MAVLINK_MAX_DIALECT_PAYLOAD_SIZE
+
+#define MAVLINK_COMM_NUM_BUFFERS 1
+#include "include/mavlink/v1.0/mavlink_types.h"
+
+/// MAVLink stream used for HIL interaction
+extern Stream *mavlink_comm_0_port;
+
+/// MAVLink stream used for ground control communication
+extern Stream *mavlink_comm_1_port;
+
+/// MAVLink system definition
+extern mavlink_system_t mavlink_system;
+
+/// Send a byte to the nominated MAVLink channel
+///
+/// @param chan Channel to send to
+/// @param ch Byte to send
+///
+static inline void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
+{
+ switch(chan) {
+ case MAVLINK_COMM_0:
+ mavlink_comm_0_port->write(ch);
+ break;
+ case MAVLINK_COMM_1:
+ mavlink_comm_1_port->write(ch);
+ break;
+ default:
+ break;
+ }
+}
+
+/// Read a byte from the nominated MAVLink channel
+///
+/// @param chan Channel to receive on
+/// @returns Byte read
+///
+static inline uint8_t comm_receive_ch(mavlink_channel_t chan)
+{
+ uint8_t data = 0;
+
+ switch(chan) {
+ case MAVLINK_COMM_0:
+ data = mavlink_comm_0_port->read();
+ break;
+ case MAVLINK_COMM_1:
+ data = mavlink_comm_1_port->read();
+ break;
+ default:
+ break;
+ }
+ return data;
+}
+
+/// Check for available data on the nominated MAVLink channel
+///
+/// @param chan Channel to check
+/// @returns Number of bytes available
+static inline uint16_t comm_get_available(mavlink_channel_t chan)
+{
+ uint16_t bytes = 0;
+ switch(chan) {
+ case MAVLINK_COMM_0:
+ bytes = mavlink_comm_0_port->available();
+ break;
+ case MAVLINK_COMM_1:
+ bytes = mavlink_comm_1_port->available();
+ break;
+ default:
+ break;
+ }
+ return bytes;
+}
+
+
+/// Check for available transmit space on the nominated MAVLink channel
+///
+/// @param chan Channel to check
+/// @returns Number of bytes available, -1 for error
+static inline int comm_get_txspace(mavlink_channel_t chan)
+{
+ switch(chan) {
+ case MAVLINK_COMM_0:
+ // return mavlink_comm_0_port->txspace();
+ return 65535;
+ break;
+ case MAVLINK_COMM_1:
+ //return mavlink_comm_1_port->txspace();
+ return 65535;
+ break;
+ default:
+ break;
+ }
+ return -1;
+}
+
+#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
+#include "include/mavlink/v1.0/ardupilotmega/mavlink.h"
+
+uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid);
+
+// return a MAVLink variable type given a AP_Param type
+//uint8_t mav_var_type(enum ap_var_type t);
+
+#endif // GCS_MAVLink_h
diff --git a/libraries/GCS_MAVLink/generate.sh b/libraries/GCS_MAVLink/generate.sh
new file mode 100644
index 0000000..f3b9f9f
--- /dev/null
+++ b/libraries/GCS_MAVLink/generate.sh
@@ -0,0 +1,20 @@
+#!/bin/sh
+# script to re-generate mavlink C code for APM
+
+mavdir="$(dirname $0)"
+dname="$(basename $mavdir)"
+[ "$dname" = "GCS_MAVLink" ] || {
+ echo "This script should be run from the libraries/GCS_MAVLink directory"
+ exit 1
+}
+
+if ! which mavgen.py > /dev/null; then
+ echo "mavgen.py must be in your PATH. Get it from http://github.com/mavlink/mavlink in the pymavlink/generator directory"
+ exit 1
+fi
+
+echo "Removing old includes"
+rm -rf "$mavdir/include/*"
+
+echo "Generating C code"
+mavgen.py --lang=C --wire-protocol=1.0 --output=$mavdir/include/mavlink/v1.0 $mavdir/message_definitions/ardupilotmega.xml
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
new file mode 100644
index 0000000..f53bcad
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
@@ -0,0 +1,180 @@
+/** @file
+ * @brief MAVLink comm protocol generated from ardupilotmega.xml
+ * @see http://qgroundcontrol.org/mavlink/
+ */
+#ifndef ARDUPILOTMEGA_H
+#define ARDUPILOTMEGA_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// MESSAGE LENGTHS AND CRCS
+
+#ifndef MAVLINK_MESSAGE_LENGTHS
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 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, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 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, 36, 30, 18, 18, 51, 9, 0}
+#endif
+
+#ifndef MAVLINK_MESSAGE_CRCS
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 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, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 111, 21, 21, 144, 1, 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, 204, 49, 170, 44, 83, 46, 0}
+#endif
+
+#ifndef MAVLINK_MESSAGE_INFO
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"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}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"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}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, 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MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_AHRS, MAVLINK_MESSAGE_INFO_SIMSTATE, MAVLINK_MESSAGE_INFO_HWSTATUS, MAVLINK_MESSAGE_INFO_RADIO, MAVLINK_MESSAGE_INFO_LIMITS_STATUS, MAVLINK_MESSAGE_INFO_WIND, {"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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{"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}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
+#endif
+
+#include "../protocol.h"
+
+#define MAVLINK_ENABLED_ARDUPILOTMEGA
+
+// ENUM DEFINITIONS
+
+
+/** @brief Enumeration of possible mount operation modes */
+#ifndef HAVE_ENUM_MAV_MOUNT_MODE
+#define HAVE_ENUM_MAV_MOUNT_MODE
+enum MAV_MOUNT_MODE
+{
+ MAV_MOUNT_MODE_RETRACT=0, /* Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization | */
+ MAV_MOUNT_MODE_NEUTRAL=1, /* Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM. | */
+ MAV_MOUNT_MODE_MAVLINK_TARGETING=2, /* Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization | */
+ MAV_MOUNT_MODE_RC_TARGETING=3, /* Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | */
+ MAV_MOUNT_MODE_GPS_POINT=4, /* Load neutral position and start to point to Lat,Lon,Alt | */
+ MAV_MOUNT_MODE_ENUM_END=5, /* | */
+};
+#endif
+
+/** @brief */
+#ifndef HAVE_ENUM_MAV_CMD
+#define HAVE_ENUM_MAV_CMD
+enum MAV_CMD
+{
+ MAV_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */
+ MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
+ MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
+ MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
+ MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
+ MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */
+ MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */
+ MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
+ MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
+ MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
+ MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */
+ MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */
+ MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
+ MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */
+ MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
+ MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */
+ MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */
+ MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */
+ MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
+ MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */
+ MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */
+ MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */
+ MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */
+ MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */
+ MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
+ MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| */
+ MAV_CMD_DO_DIGICAM_CONTROL=203, /* Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| */
+ MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| */
+ MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty| */
+ MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
+ MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Empty| Empty| Empty| */
+ MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */
+ MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */
+ MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */
+ MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */
+ MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */
+ MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */
+ MAV_CMD_ENUM_END=401, /* | */
+};
+#endif
+
+/** @brief */
+#ifndef HAVE_ENUM_FENCE_ACTION
+#define HAVE_ENUM_FENCE_ACTION
+enum FENCE_ACTION
+{
+ FENCE_ACTION_NONE=0, /* Disable fenced mode | */
+ FENCE_ACTION_GUIDED=1, /* Switched to guided mode to return point (fence point 0) | */
+ FENCE_ACTION_ENUM_END=2, /* | */
+};
+#endif
+
+/** @brief */
+#ifndef HAVE_ENUM_FENCE_BREACH
+#define HAVE_ENUM_FENCE_BREACH
+enum FENCE_BREACH
+{
+ FENCE_BREACH_NONE=0, /* No last fence breach | */
+ FENCE_BREACH_MINALT=1, /* Breached minimum altitude | */
+ FENCE_BREACH_MAXALT=2, /* Breached minimum altitude | */
+ FENCE_BREACH_BOUNDARY=3, /* Breached fence boundary | */
+ FENCE_BREACH_ENUM_END=4, /* | */
+};
+#endif
+
+/** @brief */
+#ifndef HAVE_ENUM_LIMITS_STATE
+#define HAVE_ENUM_LIMITS_STATE
+enum LIMITS_STATE
+{
+ LIMITS_INIT=0, /* pre-initialization | */
+ LIMITS_DISABLED=1, /* disabled | */
+ LIMITS_ENABLED=2, /* checking limits | */
+ LIMITS_TRIGGERED=3, /* a limit has been breached | */
+ LIMITS_RECOVERING=4, /* taking action eg. RTL | */
+ LIMITS_RECOVERED=5, /* we're no longer in breach of a limit | */
+ LIMITS_STATE_ENUM_END=6, /* | */
+};
+#endif
+
+/** @brief */
+#ifndef HAVE_ENUM_LIMIT_MODULE
+#define HAVE_ENUM_LIMIT_MODULE
+enum LIMIT_MODULE
+{
+ LIMIT_GPSLOCK=1, /* pre-initialization | */
+ LIMIT_GEOFENCE=2, /* disabled | */
+ LIMIT_ALTITUDE=4, /* checking limits | */
+ LIMIT_MODULE_ENUM_END=5, /* | */
+};
+#endif
+
+#include "../common/common.h"
+
+// MAVLINK VERSION
+
+#ifndef MAVLINK_VERSION
+#define MAVLINK_VERSION 2
+#endif
+
+#if (MAVLINK_VERSION == 0)
+#undef MAVLINK_VERSION
+#define MAVLINK_VERSION 2
+#endif
+
+// MESSAGE DEFINITIONS
+#include "./mavlink_msg_sensor_offsets.h"
+#include "./mavlink_msg_set_mag_offsets.h"
+#include "./mavlink_msg_meminfo.h"
+#include "./mavlink_msg_ap_adc.h"
+#include "./mavlink_msg_digicam_configure.h"
+#include "./mavlink_msg_digicam_control.h"
+#include "./mavlink_msg_mount_configure.h"
+#include "./mavlink_msg_mount_control.h"
+#include "./mavlink_msg_mount_status.h"
+#include "./mavlink_msg_fence_point.h"
+#include "./mavlink_msg_fence_fetch_point.h"
+#include "./mavlink_msg_fence_status.h"
+#include "./mavlink_msg_ahrs.h"
+#include "./mavlink_msg_simstate.h"
+#include "./mavlink_msg_hwstatus.h"
+#include "./mavlink_msg_radio.h"
+#include "./mavlink_msg_limits_status.h"
+#include "./mavlink_msg_wind.h"
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+#endif // ARDUPILOTMEGA_H
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink.h
new file mode 100644
index 0000000..551938f
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink.h
@@ -0,0 +1,27 @@
+/** @file
+ * @brief MAVLink comm protocol built from ardupilotmega.xml
+ * @see http://pixhawk.ethz.ch/software/mavlink
+ */
+#ifndef MAVLINK_H
+#define MAVLINK_H
+
+#ifndef MAVLINK_STX
+#define MAVLINK_STX 254
+#endif
+
+#ifndef MAVLINK_ENDIAN
+#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
+#endif
+
+#ifndef MAVLINK_ALIGNED_FIELDS
+#define MAVLINK_ALIGNED_FIELDS 1
+#endif
+
+#ifndef MAVLINK_CRC_EXTRA
+#define MAVLINK_CRC_EXTRA 1
+#endif
+
+#include "version.h"
+#include "ardupilotmega.h"
+
+#endif // MAVLINK_H
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h
new file mode 100644
index 0000000..a59f89a
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h
@@ -0,0 +1,276 @@
+// MESSAGE AHRS PACKING
+
+#define MAVLINK_MSG_ID_AHRS 163
+
+typedef struct __mavlink_ahrs_t
+{
+ float omegaIx; ///< X gyro drift estimate rad/s
+ float omegaIy; ///< Y gyro drift estimate rad/s
+ float omegaIz; ///< Z gyro drift estimate rad/s
+ float accel_weight; ///< average accel_weight
+ float renorm_val; ///< average renormalisation value
+ float error_rp; ///< average error_roll_pitch value
+ float error_yaw; ///< average error_yaw value
+} mavlink_ahrs_t;
+
+#define MAVLINK_MSG_ID_AHRS_LEN 28
+#define MAVLINK_MSG_ID_163_LEN 28
+
+
+
+#define MAVLINK_MESSAGE_INFO_AHRS { \
+ "AHRS", \
+ 7, \
+ { { "omegaIx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs_t, omegaIx) }, \
+ { "omegaIy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs_t, omegaIy) }, \
+ { "omegaIz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs_t, omegaIz) }, \
+ { "accel_weight", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs_t, accel_weight) }, \
+ { "renorm_val", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ahrs_t, renorm_val) }, \
+ { "error_rp", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ahrs_t, error_rp) }, \
+ { "error_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ahrs_t, error_yaw) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a ahrs 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 omegaIx X gyro drift estimate rad/s
+ * @param omegaIy Y gyro drift estimate rad/s
+ * @param omegaIz Z gyro drift estimate rad/s
+ * @param accel_weight average accel_weight
+ * @param renorm_val average renormalisation value
+ * @param error_rp average error_roll_pitch value
+ * @param error_yaw average error_yaw value
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ahrs_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_float(buf, 0, omegaIx);
+ _mav_put_float(buf, 4, omegaIy);
+ _mav_put_float(buf, 8, omegaIz);
+ _mav_put_float(buf, 12, accel_weight);
+ _mav_put_float(buf, 16, renorm_val);
+ _mav_put_float(buf, 20, error_rp);
+ _mav_put_float(buf, 24, error_yaw);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+ mavlink_ahrs_t packet;
+ packet.omegaIx = omegaIx;
+ packet.omegaIy = omegaIy;
+ packet.omegaIz = omegaIz;
+ packet.accel_weight = accel_weight;
+ packet.renorm_val = renorm_val;
+ packet.error_rp = error_rp;
+ packet.error_yaw = error_yaw;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_AHRS;
+ return mavlink_finalize_message(msg, system_id, component_id, 28, 127);
+}
+
+/**
+ * @brief Pack a ahrs 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param omegaIx X gyro drift estimate rad/s
+ * @param omegaIy Y gyro drift estimate rad/s
+ * @param omegaIz Z gyro drift estimate rad/s
+ * @param accel_weight average accel_weight
+ * @param renorm_val average renormalisation value
+ * @param error_rp average error_roll_pitch value
+ * @param error_yaw average error_yaw value
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ahrs_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ float omegaIx,float omegaIy,float omegaIz,float accel_weight,float renorm_val,float error_rp,float error_yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_float(buf, 0, omegaIx);
+ _mav_put_float(buf, 4, omegaIy);
+ _mav_put_float(buf, 8, omegaIz);
+ _mav_put_float(buf, 12, accel_weight);
+ _mav_put_float(buf, 16, renorm_val);
+ _mav_put_float(buf, 20, error_rp);
+ _mav_put_float(buf, 24, error_yaw);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+ mavlink_ahrs_t packet;
+ packet.omegaIx = omegaIx;
+ packet.omegaIy = omegaIy;
+ packet.omegaIz = omegaIz;
+ packet.accel_weight = accel_weight;
+ packet.renorm_val = renorm_val;
+ packet.error_rp = error_rp;
+ packet.error_yaw = error_yaw;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_AHRS;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 127);
+}
+
+/**
+ * @brief Encode a ahrs 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 ahrs C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_ahrs_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
+{
+ return mavlink_msg_ahrs_pack(system_id, component_id, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
+}
+
+/**
+ * @brief Send a ahrs message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param omegaIx X gyro drift estimate rad/s
+ * @param omegaIy Y gyro drift estimate rad/s
+ * @param omegaIz Z gyro drift estimate rad/s
+ * @param accel_weight average accel_weight
+ * @param renorm_val average renormalisation value
+ * @param error_rp average error_roll_pitch value
+ * @param error_yaw average error_yaw value
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_ahrs_send(mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_float(buf, 0, omegaIx);
+ _mav_put_float(buf, 4, omegaIy);
+ _mav_put_float(buf, 8, omegaIz);
+ _mav_put_float(buf, 12, accel_weight);
+ _mav_put_float(buf, 16, renorm_val);
+ _mav_put_float(buf, 20, error_rp);
+ _mav_put_float(buf, 24, error_yaw);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, 28, 127);
+#else
+ mavlink_ahrs_t packet;
+ packet.omegaIx = omegaIx;
+ packet.omegaIy = omegaIy;
+ packet.omegaIz = omegaIz;
+ packet.accel_weight = accel_weight;
+ packet.renorm_val = renorm_val;
+ packet.error_rp = error_rp;
+ packet.error_yaw = error_yaw;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)&packet, 28, 127);
+#endif
+}
+
+#endif
+
+// MESSAGE AHRS UNPACKING
+
+
+/**
+ * @brief Get field omegaIx from ahrs message
+ *
+ * @return X gyro drift estimate rad/s
+ */
+static inline float mavlink_msg_ahrs_get_omegaIx(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field omegaIy from ahrs message
+ *
+ * @return Y gyro drift estimate rad/s
+ */
+static inline float mavlink_msg_ahrs_get_omegaIy(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field omegaIz from ahrs message
+ *
+ * @return Z gyro drift estimate rad/s
+ */
+static inline float mavlink_msg_ahrs_get_omegaIz(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field accel_weight from ahrs message
+ *
+ * @return average accel_weight
+ */
+static inline float mavlink_msg_ahrs_get_accel_weight(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field renorm_val from ahrs message
+ *
+ * @return average renormalisation value
+ */
+static inline float mavlink_msg_ahrs_get_renorm_val(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field error_rp from ahrs message
+ *
+ * @return average error_roll_pitch value
+ */
+static inline float mavlink_msg_ahrs_get_error_rp(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Get field error_yaw from ahrs message
+ *
+ * @return average error_yaw value
+ */
+static inline float mavlink_msg_ahrs_get_error_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 24);
+}
+
+/**
+ * @brief Decode a ahrs message into a struct
+ *
+ * @param msg The message to decode
+ * @param ahrs C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_ahrs_decode(const mavlink_message_t* msg, mavlink_ahrs_t* ahrs)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ ahrs->omegaIx = mavlink_msg_ahrs_get_omegaIx(msg);
+ ahrs->omegaIy = mavlink_msg_ahrs_get_omegaIy(msg);
+ ahrs->omegaIz = mavlink_msg_ahrs_get_omegaIz(msg);
+ ahrs->accel_weight = mavlink_msg_ahrs_get_accel_weight(msg);
+ ahrs->renorm_val = mavlink_msg_ahrs_get_renorm_val(msg);
+ ahrs->error_rp = mavlink_msg_ahrs_get_error_rp(msg);
+ ahrs->error_yaw = mavlink_msg_ahrs_get_error_yaw(msg);
+#else
+ memcpy(ahrs, _MAV_PAYLOAD(msg), 28);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h
new file mode 100644
index 0000000..ea640c4
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h
@@ -0,0 +1,254 @@
+// MESSAGE AP_ADC PACKING
+
+#define MAVLINK_MSG_ID_AP_ADC 153
+
+typedef struct __mavlink_ap_adc_t
+{
+ uint16_t adc1; ///< ADC output 1
+ uint16_t adc2; ///< ADC output 2
+ uint16_t adc3; ///< ADC output 3
+ uint16_t adc4; ///< ADC output 4
+ uint16_t adc5; ///< ADC output 5
+ uint16_t adc6; ///< ADC output 6
+} mavlink_ap_adc_t;
+
+#define MAVLINK_MSG_ID_AP_ADC_LEN 12
+#define MAVLINK_MSG_ID_153_LEN 12
+
+
+
+#define MAVLINK_MESSAGE_INFO_AP_ADC { \
+ "AP_ADC", \
+ 6, \
+ { { "adc1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_ap_adc_t, adc1) }, \
+ { "adc2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_ap_adc_t, adc2) }, \
+ { "adc3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_ap_adc_t, adc3) }, \
+ { "adc4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_ap_adc_t, adc4) }, \
+ { "adc5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_ap_adc_t, adc5) }, \
+ { "adc6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_ap_adc_t, adc6) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a ap_adc 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 adc1 ADC output 1
+ * @param adc2 ADC output 2
+ * @param adc3 ADC output 3
+ * @param adc4 ADC output 4
+ * @param adc5 ADC output 5
+ * @param adc6 ADC output 6
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[12];
+ _mav_put_uint16_t(buf, 0, adc1);
+ _mav_put_uint16_t(buf, 2, adc2);
+ _mav_put_uint16_t(buf, 4, adc3);
+ _mav_put_uint16_t(buf, 6, adc4);
+ _mav_put_uint16_t(buf, 8, adc5);
+ _mav_put_uint16_t(buf, 10, adc6);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
+#else
+ mavlink_ap_adc_t packet;
+ packet.adc1 = adc1;
+ packet.adc2 = adc2;
+ packet.adc3 = adc3;
+ packet.adc4 = adc4;
+ packet.adc5 = adc5;
+ packet.adc6 = adc6;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_AP_ADC;
+ return mavlink_finalize_message(msg, system_id, component_id, 12, 188);
+}
+
+/**
+ * @brief Pack a ap_adc 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param adc1 ADC output 1
+ * @param adc2 ADC output 2
+ * @param adc3 ADC output 3
+ * @param adc4 ADC output 4
+ * @param adc5 ADC output 5
+ * @param adc6 ADC output 6
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint16_t adc1,uint16_t adc2,uint16_t adc3,uint16_t adc4,uint16_t adc5,uint16_t adc6)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[12];
+ _mav_put_uint16_t(buf, 0, adc1);
+ _mav_put_uint16_t(buf, 2, adc2);
+ _mav_put_uint16_t(buf, 4, adc3);
+ _mav_put_uint16_t(buf, 6, adc4);
+ _mav_put_uint16_t(buf, 8, adc5);
+ _mav_put_uint16_t(buf, 10, adc6);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
+#else
+ mavlink_ap_adc_t packet;
+ packet.adc1 = adc1;
+ packet.adc2 = adc2;
+ packet.adc3 = adc3;
+ packet.adc4 = adc4;
+ packet.adc5 = adc5;
+ packet.adc6 = adc6;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_AP_ADC;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 188);
+}
+
+/**
+ * @brief Encode a ap_adc 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 ap_adc C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_ap_adc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ap_adc_t* ap_adc)
+{
+ return mavlink_msg_ap_adc_pack(system_id, component_id, msg, ap_adc->adc1, ap_adc->adc2, ap_adc->adc3, ap_adc->adc4, ap_adc->adc5, ap_adc->adc6);
+}
+
+/**
+ * @brief Send a ap_adc message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param adc1 ADC output 1
+ * @param adc2 ADC output 2
+ * @param adc3 ADC output 3
+ * @param adc4 ADC output 4
+ * @param adc5 ADC output 5
+ * @param adc6 ADC output 6
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_ap_adc_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[12];
+ _mav_put_uint16_t(buf, 0, adc1);
+ _mav_put_uint16_t(buf, 2, adc2);
+ _mav_put_uint16_t(buf, 4, adc3);
+ _mav_put_uint16_t(buf, 6, adc4);
+ _mav_put_uint16_t(buf, 8, adc5);
+ _mav_put_uint16_t(buf, 10, adc6);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, 12, 188);
+#else
+ mavlink_ap_adc_t packet;
+ packet.adc1 = adc1;
+ packet.adc2 = adc2;
+ packet.adc3 = adc3;
+ packet.adc4 = adc4;
+ packet.adc5 = adc5;
+ packet.adc6 = adc6;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)&packet, 12, 188);
+#endif
+}
+
+#endif
+
+// MESSAGE AP_ADC UNPACKING
+
+
+/**
+ * @brief Get field adc1 from ap_adc message
+ *
+ * @return ADC output 1
+ */
+static inline uint16_t mavlink_msg_ap_adc_get_adc1(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 0);
+}
+
+/**
+ * @brief Get field adc2 from ap_adc message
+ *
+ * @return ADC output 2
+ */
+static inline uint16_t mavlink_msg_ap_adc_get_adc2(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 2);
+}
+
+/**
+ * @brief Get field adc3 from ap_adc message
+ *
+ * @return ADC output 3
+ */
+static inline uint16_t mavlink_msg_ap_adc_get_adc3(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 4);
+}
+
+/**
+ * @brief Get field adc4 from ap_adc message
+ *
+ * @return ADC output 4
+ */
+static inline uint16_t mavlink_msg_ap_adc_get_adc4(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 6);
+}
+
+/**
+ * @brief Get field adc5 from ap_adc message
+ *
+ * @return ADC output 5
+ */
+static inline uint16_t mavlink_msg_ap_adc_get_adc5(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 8);
+}
+
+/**
+ * @brief Get field adc6 from ap_adc message
+ *
+ * @return ADC output 6
+ */
+static inline uint16_t mavlink_msg_ap_adc_get_adc6(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 10);
+}
+
+/**
+ * @brief Decode a ap_adc message into a struct
+ *
+ * @param msg The message to decode
+ * @param ap_adc C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_ap_adc_decode(const mavlink_message_t* msg, mavlink_ap_adc_t* ap_adc)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ ap_adc->adc1 = mavlink_msg_ap_adc_get_adc1(msg);
+ ap_adc->adc2 = mavlink_msg_ap_adc_get_adc2(msg);
+ ap_adc->adc3 = mavlink_msg_ap_adc_get_adc3(msg);
+ ap_adc->adc4 = mavlink_msg_ap_adc_get_adc4(msg);
+ ap_adc->adc5 = mavlink_msg_ap_adc_get_adc5(msg);
+ ap_adc->adc6 = mavlink_msg_ap_adc_get_adc6(msg);
+#else
+ memcpy(ap_adc, _MAV_PAYLOAD(msg), 12);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h
new file mode 100644
index 0000000..cc49c50
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h
@@ -0,0 +1,364 @@
+// MESSAGE DIGICAM_CONFIGURE PACKING
+
+#define MAVLINK_MSG_ID_DIGICAM_CONFIGURE 154
+
+typedef struct __mavlink_digicam_configure_t
+{
+ float extra_value; ///< Correspondent value to given extra_param
+ uint16_t shutter_speed; ///< Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ uint8_t mode; ///< Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
+ uint8_t aperture; ///< F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
+ uint8_t iso; ///< ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
+ uint8_t exposure_type; ///< Exposure type enumeration from 1 to N (0 means ignore)
+ uint8_t command_id; ///< Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
+ uint8_t engine_cut_off; ///< Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
+ uint8_t extra_param; ///< Extra parameters enumeration (0 means ignore)
+} mavlink_digicam_configure_t;
+
+#define MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN 15
+#define MAVLINK_MSG_ID_154_LEN 15
+
+
+
+#define MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE { \
+ "DIGICAM_CONFIGURE", \
+ 11, \
+ { { "extra_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_digicam_configure_t, extra_value) }, \
+ { "shutter_speed", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_digicam_configure_t, shutter_speed) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_digicam_configure_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_digicam_configure_t, target_component) }, \
+ { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_digicam_configure_t, mode) }, \
+ { "aperture", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_digicam_configure_t, aperture) }, \
+ { "iso", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_digicam_configure_t, iso) }, \
+ { "exposure_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_digicam_configure_t, exposure_type) }, \
+ { "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_digicam_configure_t, command_id) }, \
+ { "engine_cut_off", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_digicam_configure_t, engine_cut_off) }, \
+ { "extra_param", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_digicam_configure_t, extra_param) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a digicam_configure 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_system System ID
+ * @param target_component Component ID
+ * @param mode Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
+ * @param shutter_speed Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
+ * @param aperture F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
+ * @param iso ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
+ * @param exposure_type Exposure type enumeration from 1 to N (0 means ignore)
+ * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
+ * @param engine_cut_off Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
+ * @param extra_param Extra parameters enumeration (0 means ignore)
+ * @param extra_value Correspondent value to given extra_param
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_digicam_configure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, uint8_t mode, uint16_t shutter_speed, uint8_t aperture, uint8_t iso, uint8_t exposure_type, uint8_t command_id, uint8_t engine_cut_off, uint8_t extra_param, float extra_value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[15];
+ _mav_put_float(buf, 0, extra_value);
+ _mav_put_uint16_t(buf, 4, shutter_speed);
+ _mav_put_uint8_t(buf, 6, target_system);
+ _mav_put_uint8_t(buf, 7, target_component);
+ _mav_put_uint8_t(buf, 8, mode);
+ _mav_put_uint8_t(buf, 9, aperture);
+ _mav_put_uint8_t(buf, 10, iso);
+ _mav_put_uint8_t(buf, 11, exposure_type);
+ _mav_put_uint8_t(buf, 12, command_id);
+ _mav_put_uint8_t(buf, 13, engine_cut_off);
+ _mav_put_uint8_t(buf, 14, extra_param);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15);
+#else
+ mavlink_digicam_configure_t packet;
+ packet.extra_value = extra_value;
+ packet.shutter_speed = shutter_speed;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.mode = mode;
+ packet.aperture = aperture;
+ packet.iso = iso;
+ packet.exposure_type = exposure_type;
+ packet.command_id = command_id;
+ packet.engine_cut_off = engine_cut_off;
+ packet.extra_param = extra_param;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONFIGURE;
+ return mavlink_finalize_message(msg, system_id, component_id, 15, 84);
+}
+
+/**
+ * @brief Pack a digicam_configure 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param mode Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
+ * @param shutter_speed Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
+ * @param aperture F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
+ * @param iso ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
+ * @param exposure_type Exposure type enumeration from 1 to N (0 means ignore)
+ * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
+ * @param engine_cut_off Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
+ * @param extra_param Extra parameters enumeration (0 means ignore)
+ * @param extra_value Correspondent value to given extra_param
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_digicam_configure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,uint8_t mode,uint16_t shutter_speed,uint8_t aperture,uint8_t iso,uint8_t exposure_type,uint8_t command_id,uint8_t engine_cut_off,uint8_t extra_param,float extra_value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[15];
+ _mav_put_float(buf, 0, extra_value);
+ _mav_put_uint16_t(buf, 4, shutter_speed);
+ _mav_put_uint8_t(buf, 6, target_system);
+ _mav_put_uint8_t(buf, 7, target_component);
+ _mav_put_uint8_t(buf, 8, mode);
+ _mav_put_uint8_t(buf, 9, aperture);
+ _mav_put_uint8_t(buf, 10, iso);
+ _mav_put_uint8_t(buf, 11, exposure_type);
+ _mav_put_uint8_t(buf, 12, command_id);
+ _mav_put_uint8_t(buf, 13, engine_cut_off);
+ _mav_put_uint8_t(buf, 14, extra_param);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15);
+#else
+ mavlink_digicam_configure_t packet;
+ packet.extra_value = extra_value;
+ packet.shutter_speed = shutter_speed;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.mode = mode;
+ packet.aperture = aperture;
+ packet.iso = iso;
+ packet.exposure_type = exposure_type;
+ packet.command_id = command_id;
+ packet.engine_cut_off = engine_cut_off;
+ packet.extra_param = extra_param;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONFIGURE;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 15, 84);
+}
+
+/**
+ * @brief Encode a digicam_configure 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 digicam_configure C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_digicam_configure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_digicam_configure_t* digicam_configure)
+{
+ return mavlink_msg_digicam_configure_pack(system_id, component_id, msg, digicam_configure->target_system, digicam_configure->target_component, digicam_configure->mode, digicam_configure->shutter_speed, digicam_configure->aperture, digicam_configure->iso, digicam_configure->exposure_type, digicam_configure->command_id, digicam_configure->engine_cut_off, digicam_configure->extra_param, digicam_configure->extra_value);
+}
+
+/**
+ * @brief Send a digicam_configure message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param mode Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
+ * @param shutter_speed Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
+ * @param aperture F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
+ * @param iso ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
+ * @param exposure_type Exposure type enumeration from 1 to N (0 means ignore)
+ * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
+ * @param engine_cut_off Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
+ * @param extra_param Extra parameters enumeration (0 means ignore)
+ * @param extra_value Correspondent value to given extra_param
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_digicam_configure_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t mode, uint16_t shutter_speed, uint8_t aperture, uint8_t iso, uint8_t exposure_type, uint8_t command_id, uint8_t engine_cut_off, uint8_t extra_param, float extra_value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[15];
+ _mav_put_float(buf, 0, extra_value);
+ _mav_put_uint16_t(buf, 4, shutter_speed);
+ _mav_put_uint8_t(buf, 6, target_system);
+ _mav_put_uint8_t(buf, 7, target_component);
+ _mav_put_uint8_t(buf, 8, mode);
+ _mav_put_uint8_t(buf, 9, aperture);
+ _mav_put_uint8_t(buf, 10, iso);
+ _mav_put_uint8_t(buf, 11, exposure_type);
+ _mav_put_uint8_t(buf, 12, command_id);
+ _mav_put_uint8_t(buf, 13, engine_cut_off);
+ _mav_put_uint8_t(buf, 14, extra_param);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, buf, 15, 84);
+#else
+ mavlink_digicam_configure_t packet;
+ packet.extra_value = extra_value;
+ packet.shutter_speed = shutter_speed;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.mode = mode;
+ packet.aperture = aperture;
+ packet.iso = iso;
+ packet.exposure_type = exposure_type;
+ packet.command_id = command_id;
+ packet.engine_cut_off = engine_cut_off;
+ packet.extra_param = extra_param;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, (const char *)&packet, 15, 84);
+#endif
+}
+
+#endif
+
+// MESSAGE DIGICAM_CONFIGURE UNPACKING
+
+
+/**
+ * @brief Get field target_system from digicam_configure message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_digicam_configure_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 6);
+}
+
+/**
+ * @brief Get field target_component from digicam_configure message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_digicam_configure_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 7);
+}
+
+/**
+ * @brief Get field mode from digicam_configure message
+ *
+ * @return Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
+ */
+static inline uint8_t mavlink_msg_digicam_configure_get_mode(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 8);
+}
+
+/**
+ * @brief Get field shutter_speed from digicam_configure message
+ *
+ * @return Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
+ */
+static inline uint16_t mavlink_msg_digicam_configure_get_shutter_speed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 4);
+}
+
+/**
+ * @brief Get field aperture from digicam_configure message
+ *
+ * @return F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
+ */
+static inline uint8_t mavlink_msg_digicam_configure_get_aperture(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 9);
+}
+
+/**
+ * @brief Get field iso from digicam_configure message
+ *
+ * @return ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
+ */
+static inline uint8_t mavlink_msg_digicam_configure_get_iso(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 10);
+}
+
+/**
+ * @brief Get field exposure_type from digicam_configure message
+ *
+ * @return Exposure type enumeration from 1 to N (0 means ignore)
+ */
+static inline uint8_t mavlink_msg_digicam_configure_get_exposure_type(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 11);
+}
+
+/**
+ * @brief Get field command_id from digicam_configure message
+ *
+ * @return Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
+ */
+static inline uint8_t mavlink_msg_digicam_configure_get_command_id(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 12);
+}
+
+/**
+ * @brief Get field engine_cut_off from digicam_configure message
+ *
+ * @return Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
+ */
+static inline uint8_t mavlink_msg_digicam_configure_get_engine_cut_off(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 13);
+}
+
+/**
+ * @brief Get field extra_param from digicam_configure message
+ *
+ * @return Extra parameters enumeration (0 means ignore)
+ */
+static inline uint8_t mavlink_msg_digicam_configure_get_extra_param(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 14);
+}
+
+/**
+ * @brief Get field extra_value from digicam_configure message
+ *
+ * @return Correspondent value to given extra_param
+ */
+static inline float mavlink_msg_digicam_configure_get_extra_value(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Decode a digicam_configure message into a struct
+ *
+ * @param msg The message to decode
+ * @param digicam_configure C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_digicam_configure_decode(const mavlink_message_t* msg, mavlink_digicam_configure_t* digicam_configure)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ digicam_configure->extra_value = mavlink_msg_digicam_configure_get_extra_value(msg);
+ digicam_configure->shutter_speed = mavlink_msg_digicam_configure_get_shutter_speed(msg);
+ digicam_configure->target_system = mavlink_msg_digicam_configure_get_target_system(msg);
+ digicam_configure->target_component = mavlink_msg_digicam_configure_get_target_component(msg);
+ digicam_configure->mode = mavlink_msg_digicam_configure_get_mode(msg);
+ digicam_configure->aperture = mavlink_msg_digicam_configure_get_aperture(msg);
+ digicam_configure->iso = mavlink_msg_digicam_configure_get_iso(msg);
+ digicam_configure->exposure_type = mavlink_msg_digicam_configure_get_exposure_type(msg);
+ digicam_configure->command_id = mavlink_msg_digicam_configure_get_command_id(msg);
+ digicam_configure->engine_cut_off = mavlink_msg_digicam_configure_get_engine_cut_off(msg);
+ digicam_configure->extra_param = mavlink_msg_digicam_configure_get_extra_param(msg);
+#else
+ memcpy(digicam_configure, _MAV_PAYLOAD(msg), 15);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_control.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_control.h
new file mode 100644
index 0000000..a3b4878
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_control.h
@@ -0,0 +1,342 @@
+// MESSAGE DIGICAM_CONTROL PACKING
+
+#define MAVLINK_MSG_ID_DIGICAM_CONTROL 155
+
+typedef struct __mavlink_digicam_control_t
+{
+ float extra_value; ///< Correspondent value to given extra_param
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ uint8_t session; ///< 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
+ uint8_t zoom_pos; ///< 1 to N //Zoom's absolute position (0 means ignore)
+ int8_t zoom_step; ///< -100 to 100 //Zooming step value to offset zoom from the current position
+ uint8_t focus_lock; ///< 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
+ uint8_t shot; ///< 0: ignore, 1: shot or start filming
+ uint8_t command_id; ///< Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
+ uint8_t extra_param; ///< Extra parameters enumeration (0 means ignore)
+} mavlink_digicam_control_t;
+
+#define MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN 13
+#define MAVLINK_MSG_ID_155_LEN 13
+
+
+
+#define MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL { \
+ "DIGICAM_CONTROL", \
+ 10, \
+ { { "extra_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_digicam_control_t, extra_value) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_digicam_control_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_digicam_control_t, target_component) }, \
+ { "session", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_digicam_control_t, session) }, \
+ { "zoom_pos", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_digicam_control_t, zoom_pos) }, \
+ { "zoom_step", NULL, MAVLINK_TYPE_INT8_T, 0, 8, offsetof(mavlink_digicam_control_t, zoom_step) }, \
+ { "focus_lock", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_digicam_control_t, focus_lock) }, \
+ { "shot", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_digicam_control_t, shot) }, \
+ { "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_digicam_control_t, command_id) }, \
+ { "extra_param", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_digicam_control_t, extra_param) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a digicam_control 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_system System ID
+ * @param target_component Component ID
+ * @param session 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
+ * @param zoom_pos 1 to N //Zoom's absolute position (0 means ignore)
+ * @param zoom_step -100 to 100 //Zooming step value to offset zoom from the current position
+ * @param focus_lock 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
+ * @param shot 0: ignore, 1: shot or start filming
+ * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
+ * @param extra_param Extra parameters enumeration (0 means ignore)
+ * @param extra_value Correspondent value to given extra_param
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_digicam_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, uint8_t session, uint8_t zoom_pos, int8_t zoom_step, uint8_t focus_lock, uint8_t shot, uint8_t command_id, uint8_t extra_param, float extra_value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[13];
+ _mav_put_float(buf, 0, extra_value);
+ _mav_put_uint8_t(buf, 4, target_system);
+ _mav_put_uint8_t(buf, 5, target_component);
+ _mav_put_uint8_t(buf, 6, session);
+ _mav_put_uint8_t(buf, 7, zoom_pos);
+ _mav_put_int8_t(buf, 8, zoom_step);
+ _mav_put_uint8_t(buf, 9, focus_lock);
+ _mav_put_uint8_t(buf, 10, shot);
+ _mav_put_uint8_t(buf, 11, command_id);
+ _mav_put_uint8_t(buf, 12, extra_param);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 13);
+#else
+ mavlink_digicam_control_t packet;
+ packet.extra_value = extra_value;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.session = session;
+ packet.zoom_pos = zoom_pos;
+ packet.zoom_step = zoom_step;
+ packet.focus_lock = focus_lock;
+ packet.shot = shot;
+ packet.command_id = command_id;
+ packet.extra_param = extra_param;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 13);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONTROL;
+ return mavlink_finalize_message(msg, system_id, component_id, 13, 22);
+}
+
+/**
+ * @brief Pack a digicam_control 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param session 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
+ * @param zoom_pos 1 to N //Zoom's absolute position (0 means ignore)
+ * @param zoom_step -100 to 100 //Zooming step value to offset zoom from the current position
+ * @param focus_lock 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
+ * @param shot 0: ignore, 1: shot or start filming
+ * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
+ * @param extra_param Extra parameters enumeration (0 means ignore)
+ * @param extra_value Correspondent value to given extra_param
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_digicam_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,uint8_t session,uint8_t zoom_pos,int8_t zoom_step,uint8_t focus_lock,uint8_t shot,uint8_t command_id,uint8_t extra_param,float extra_value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[13];
+ _mav_put_float(buf, 0, extra_value);
+ _mav_put_uint8_t(buf, 4, target_system);
+ _mav_put_uint8_t(buf, 5, target_component);
+ _mav_put_uint8_t(buf, 6, session);
+ _mav_put_uint8_t(buf, 7, zoom_pos);
+ _mav_put_int8_t(buf, 8, zoom_step);
+ _mav_put_uint8_t(buf, 9, focus_lock);
+ _mav_put_uint8_t(buf, 10, shot);
+ _mav_put_uint8_t(buf, 11, command_id);
+ _mav_put_uint8_t(buf, 12, extra_param);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 13);
+#else
+ mavlink_digicam_control_t packet;
+ packet.extra_value = extra_value;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.session = session;
+ packet.zoom_pos = zoom_pos;
+ packet.zoom_step = zoom_step;
+ packet.focus_lock = focus_lock;
+ packet.shot = shot;
+ packet.command_id = command_id;
+ packet.extra_param = extra_param;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 13);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONTROL;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 13, 22);
+}
+
+/**
+ * @brief Encode a digicam_control 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 digicam_control C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_digicam_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_digicam_control_t* digicam_control)
+{
+ return mavlink_msg_digicam_control_pack(system_id, component_id, msg, digicam_control->target_system, digicam_control->target_component, digicam_control->session, digicam_control->zoom_pos, digicam_control->zoom_step, digicam_control->focus_lock, digicam_control->shot, digicam_control->command_id, digicam_control->extra_param, digicam_control->extra_value);
+}
+
+/**
+ * @brief Send a digicam_control message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param session 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
+ * @param zoom_pos 1 to N //Zoom's absolute position (0 means ignore)
+ * @param zoom_step -100 to 100 //Zooming step value to offset zoom from the current position
+ * @param focus_lock 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
+ * @param shot 0: ignore, 1: shot or start filming
+ * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
+ * @param extra_param Extra parameters enumeration (0 means ignore)
+ * @param extra_value Correspondent value to given extra_param
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_digicam_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t session, uint8_t zoom_pos, int8_t zoom_step, uint8_t focus_lock, uint8_t shot, uint8_t command_id, uint8_t extra_param, float extra_value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[13];
+ _mav_put_float(buf, 0, extra_value);
+ _mav_put_uint8_t(buf, 4, target_system);
+ _mav_put_uint8_t(buf, 5, target_component);
+ _mav_put_uint8_t(buf, 6, session);
+ _mav_put_uint8_t(buf, 7, zoom_pos);
+ _mav_put_int8_t(buf, 8, zoom_step);
+ _mav_put_uint8_t(buf, 9, focus_lock);
+ _mav_put_uint8_t(buf, 10, shot);
+ _mav_put_uint8_t(buf, 11, command_id);
+ _mav_put_uint8_t(buf, 12, extra_param);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, buf, 13, 22);
+#else
+ mavlink_digicam_control_t packet;
+ packet.extra_value = extra_value;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.session = session;
+ packet.zoom_pos = zoom_pos;
+ packet.zoom_step = zoom_step;
+ packet.focus_lock = focus_lock;
+ packet.shot = shot;
+ packet.command_id = command_id;
+ packet.extra_param = extra_param;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, (const char *)&packet, 13, 22);
+#endif
+}
+
+#endif
+
+// MESSAGE DIGICAM_CONTROL UNPACKING
+
+
+/**
+ * @brief Get field target_system from digicam_control message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_digicam_control_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 4);
+}
+
+/**
+ * @brief Get field target_component from digicam_control message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_digicam_control_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 5);
+}
+
+/**
+ * @brief Get field session from digicam_control message
+ *
+ * @return 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
+ */
+static inline uint8_t mavlink_msg_digicam_control_get_session(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 6);
+}
+
+/**
+ * @brief Get field zoom_pos from digicam_control message
+ *
+ * @return 1 to N //Zoom's absolute position (0 means ignore)
+ */
+static inline uint8_t mavlink_msg_digicam_control_get_zoom_pos(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 7);
+}
+
+/**
+ * @brief Get field zoom_step from digicam_control message
+ *
+ * @return -100 to 100 //Zooming step value to offset zoom from the current position
+ */
+static inline int8_t mavlink_msg_digicam_control_get_zoom_step(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int8_t(msg, 8);
+}
+
+/**
+ * @brief Get field focus_lock from digicam_control message
+ *
+ * @return 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
+ */
+static inline uint8_t mavlink_msg_digicam_control_get_focus_lock(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 9);
+}
+
+/**
+ * @brief Get field shot from digicam_control message
+ *
+ * @return 0: ignore, 1: shot or start filming
+ */
+static inline uint8_t mavlink_msg_digicam_control_get_shot(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 10);
+}
+
+/**
+ * @brief Get field command_id from digicam_control message
+ *
+ * @return Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
+ */
+static inline uint8_t mavlink_msg_digicam_control_get_command_id(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 11);
+}
+
+/**
+ * @brief Get field extra_param from digicam_control message
+ *
+ * @return Extra parameters enumeration (0 means ignore)
+ */
+static inline uint8_t mavlink_msg_digicam_control_get_extra_param(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 12);
+}
+
+/**
+ * @brief Get field extra_value from digicam_control message
+ *
+ * @return Correspondent value to given extra_param
+ */
+static inline float mavlink_msg_digicam_control_get_extra_value(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Decode a digicam_control message into a struct
+ *
+ * @param msg The message to decode
+ * @param digicam_control C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_digicam_control_decode(const mavlink_message_t* msg, mavlink_digicam_control_t* digicam_control)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ digicam_control->extra_value = mavlink_msg_digicam_control_get_extra_value(msg);
+ digicam_control->target_system = mavlink_msg_digicam_control_get_target_system(msg);
+ digicam_control->target_component = mavlink_msg_digicam_control_get_target_component(msg);
+ digicam_control->session = mavlink_msg_digicam_control_get_session(msg);
+ digicam_control->zoom_pos = mavlink_msg_digicam_control_get_zoom_pos(msg);
+ digicam_control->zoom_step = mavlink_msg_digicam_control_get_zoom_step(msg);
+ digicam_control->focus_lock = mavlink_msg_digicam_control_get_focus_lock(msg);
+ digicam_control->shot = mavlink_msg_digicam_control_get_shot(msg);
+ digicam_control->command_id = mavlink_msg_digicam_control_get_command_id(msg);
+ digicam_control->extra_param = mavlink_msg_digicam_control_get_extra_param(msg);
+#else
+ memcpy(digicam_control, _MAV_PAYLOAD(msg), 13);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h
new file mode 100644
index 0000000..c1e405b
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h
@@ -0,0 +1,188 @@
+// MESSAGE FENCE_FETCH_POINT PACKING
+
+#define MAVLINK_MSG_ID_FENCE_FETCH_POINT 161
+
+typedef struct __mavlink_fence_fetch_point_t
+{
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ uint8_t idx; ///< point index (first point is 1, 0 is for return point)
+} mavlink_fence_fetch_point_t;
+
+#define MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN 3
+#define MAVLINK_MSG_ID_161_LEN 3
+
+
+
+#define MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT { \
+ "FENCE_FETCH_POINT", \
+ 3, \
+ { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fence_fetch_point_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_fence_fetch_point_t, target_component) }, \
+ { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_fence_fetch_point_t, idx) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a fence_fetch_point 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_system System ID
+ * @param target_component Component ID
+ * @param idx point index (first point is 1, 0 is for return point)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_fence_fetch_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, uint8_t idx)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[3];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+ _mav_put_uint8_t(buf, 2, idx);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
+#else
+ mavlink_fence_fetch_point_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.idx = idx;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT;
+ return mavlink_finalize_message(msg, system_id, component_id, 3, 68);
+}
+
+/**
+ * @brief Pack a fence_fetch_point 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param idx point index (first point is 1, 0 is for return point)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_fence_fetch_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,uint8_t idx)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[3];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+ _mav_put_uint8_t(buf, 2, idx);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
+#else
+ mavlink_fence_fetch_point_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.idx = idx;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 68);
+}
+
+/**
+ * @brief Encode a fence_fetch_point 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 fence_fetch_point C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_fence_fetch_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_fetch_point_t* fence_fetch_point)
+{
+ return mavlink_msg_fence_fetch_point_pack(system_id, component_id, msg, fence_fetch_point->target_system, fence_fetch_point->target_component, fence_fetch_point->idx);
+}
+
+/**
+ * @brief Send a fence_fetch_point message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param idx point index (first point is 1, 0 is for return point)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_fence_fetch_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[3];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+ _mav_put_uint8_t(buf, 2, idx);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, buf, 3, 68);
+#else
+ mavlink_fence_fetch_point_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.idx = idx;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, (const char *)&packet, 3, 68);
+#endif
+}
+
+#endif
+
+// MESSAGE FENCE_FETCH_POINT UNPACKING
+
+
+/**
+ * @brief Get field target_system from fence_fetch_point message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_fence_fetch_point_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 0);
+}
+
+/**
+ * @brief Get field target_component from fence_fetch_point message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_fence_fetch_point_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 1);
+}
+
+/**
+ * @brief Get field idx from fence_fetch_point message
+ *
+ * @return point index (first point is 1, 0 is for return point)
+ */
+static inline uint8_t mavlink_msg_fence_fetch_point_get_idx(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 2);
+}
+
+/**
+ * @brief Decode a fence_fetch_point message into a struct
+ *
+ * @param msg The message to decode
+ * @param fence_fetch_point C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_fence_fetch_point_decode(const mavlink_message_t* msg, mavlink_fence_fetch_point_t* fence_fetch_point)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ fence_fetch_point->target_system = mavlink_msg_fence_fetch_point_get_target_system(msg);
+ fence_fetch_point->target_component = mavlink_msg_fence_fetch_point_get_target_component(msg);
+ fence_fetch_point->idx = mavlink_msg_fence_fetch_point_get_idx(msg);
+#else
+ memcpy(fence_fetch_point, _MAV_PAYLOAD(msg), 3);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h
new file mode 100644
index 0000000..b31319c
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h
@@ -0,0 +1,254 @@
+// MESSAGE FENCE_POINT PACKING
+
+#define MAVLINK_MSG_ID_FENCE_POINT 160
+
+typedef struct __mavlink_fence_point_t
+{
+ float lat; ///< Latitude of point
+ float lng; ///< Longitude of point
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ uint8_t idx; ///< point index (first point is 1, 0 is for return point)
+ uint8_t count; ///< total number of points (for sanity checking)
+} mavlink_fence_point_t;
+
+#define MAVLINK_MSG_ID_FENCE_POINT_LEN 12
+#define MAVLINK_MSG_ID_160_LEN 12
+
+
+
+#define MAVLINK_MESSAGE_INFO_FENCE_POINT { \
+ "FENCE_POINT", \
+ 6, \
+ { { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_fence_point_t, lat) }, \
+ { "lng", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_fence_point_t, lng) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_fence_point_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_fence_point_t, target_component) }, \
+ { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_fence_point_t, idx) }, \
+ { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_fence_point_t, count) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a fence_point 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_system System ID
+ * @param target_component Component ID
+ * @param idx point index (first point is 1, 0 is for return point)
+ * @param count total number of points (for sanity checking)
+ * @param lat Latitude of point
+ * @param lng Longitude of point
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_fence_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, float lat, float lng)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[12];
+ _mav_put_float(buf, 0, lat);
+ _mav_put_float(buf, 4, lng);
+ _mav_put_uint8_t(buf, 8, target_system);
+ _mav_put_uint8_t(buf, 9, target_component);
+ _mav_put_uint8_t(buf, 10, idx);
+ _mav_put_uint8_t(buf, 11, count);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
+#else
+ mavlink_fence_point_t packet;
+ packet.lat = lat;
+ packet.lng = lng;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.idx = idx;
+ packet.count = count;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_FENCE_POINT;
+ return mavlink_finalize_message(msg, system_id, component_id, 12, 78);
+}
+
+/**
+ * @brief Pack a fence_point 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param idx point index (first point is 1, 0 is for return point)
+ * @param count total number of points (for sanity checking)
+ * @param lat Latitude of point
+ * @param lng Longitude of point
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_fence_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,uint8_t idx,uint8_t count,float lat,float lng)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[12];
+ _mav_put_float(buf, 0, lat);
+ _mav_put_float(buf, 4, lng);
+ _mav_put_uint8_t(buf, 8, target_system);
+ _mav_put_uint8_t(buf, 9, target_component);
+ _mav_put_uint8_t(buf, 10, idx);
+ _mav_put_uint8_t(buf, 11, count);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
+#else
+ mavlink_fence_point_t packet;
+ packet.lat = lat;
+ packet.lng = lng;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.idx = idx;
+ packet.count = count;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_FENCE_POINT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 78);
+}
+
+/**
+ * @brief Encode a fence_point 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 fence_point C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_fence_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_point_t* fence_point)
+{
+ return mavlink_msg_fence_point_pack(system_id, component_id, msg, fence_point->target_system, fence_point->target_component, fence_point->idx, fence_point->count, fence_point->lat, fence_point->lng);
+}
+
+/**
+ * @brief Send a fence_point message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param idx point index (first point is 1, 0 is for return point)
+ * @param count total number of points (for sanity checking)
+ * @param lat Latitude of point
+ * @param lng Longitude of point
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_fence_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, float lat, float lng)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[12];
+ _mav_put_float(buf, 0, lat);
+ _mav_put_float(buf, 4, lng);
+ _mav_put_uint8_t(buf, 8, target_system);
+ _mav_put_uint8_t(buf, 9, target_component);
+ _mav_put_uint8_t(buf, 10, idx);
+ _mav_put_uint8_t(buf, 11, count);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, buf, 12, 78);
+#else
+ mavlink_fence_point_t packet;
+ packet.lat = lat;
+ packet.lng = lng;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.idx = idx;
+ packet.count = count;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, (const char *)&packet, 12, 78);
+#endif
+}
+
+#endif
+
+// MESSAGE FENCE_POINT UNPACKING
+
+
+/**
+ * @brief Get field target_system from fence_point message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_fence_point_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 8);
+}
+
+/**
+ * @brief Get field target_component from fence_point message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_fence_point_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 9);
+}
+
+/**
+ * @brief Get field idx from fence_point message
+ *
+ * @return point index (first point is 1, 0 is for return point)
+ */
+static inline uint8_t mavlink_msg_fence_point_get_idx(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 10);
+}
+
+/**
+ * @brief Get field count from fence_point message
+ *
+ * @return total number of points (for sanity checking)
+ */
+static inline uint8_t mavlink_msg_fence_point_get_count(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 11);
+}
+
+/**
+ * @brief Get field lat from fence_point message
+ *
+ * @return Latitude of point
+ */
+static inline float mavlink_msg_fence_point_get_lat(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field lng from fence_point message
+ *
+ * @return Longitude of point
+ */
+static inline float mavlink_msg_fence_point_get_lng(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Decode a fence_point message into a struct
+ *
+ * @param msg The message to decode
+ * @param fence_point C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_fence_point_decode(const mavlink_message_t* msg, mavlink_fence_point_t* fence_point)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ fence_point->lat = mavlink_msg_fence_point_get_lat(msg);
+ fence_point->lng = mavlink_msg_fence_point_get_lng(msg);
+ fence_point->target_system = mavlink_msg_fence_point_get_target_system(msg);
+ fence_point->target_component = mavlink_msg_fence_point_get_target_component(msg);
+ fence_point->idx = mavlink_msg_fence_point_get_idx(msg);
+ fence_point->count = mavlink_msg_fence_point_get_count(msg);
+#else
+ memcpy(fence_point, _MAV_PAYLOAD(msg), 12);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_status.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_status.h
new file mode 100644
index 0000000..ce3e7ee
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_status.h
@@ -0,0 +1,210 @@
+// MESSAGE FENCE_STATUS PACKING
+
+#define MAVLINK_MSG_ID_FENCE_STATUS 162
+
+typedef struct __mavlink_fence_status_t
+{
+ uint32_t breach_time; ///< time of last breach in milliseconds since boot
+ uint16_t breach_count; ///< number of fence breaches
+ uint8_t breach_status; ///< 0 if currently inside fence, 1 if outside
+ uint8_t breach_type; ///< last breach type (see FENCE_BREACH_* enum)
+} mavlink_fence_status_t;
+
+#define MAVLINK_MSG_ID_FENCE_STATUS_LEN 8
+#define MAVLINK_MSG_ID_162_LEN 8
+
+
+
+#define MAVLINK_MESSAGE_INFO_FENCE_STATUS { \
+ "FENCE_STATUS", \
+ 4, \
+ { { "breach_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_fence_status_t, breach_time) }, \
+ { "breach_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_fence_status_t, breach_count) }, \
+ { "breach_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_fence_status_t, breach_status) }, \
+ { "breach_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_fence_status_t, breach_type) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a fence_status 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 breach_status 0 if currently inside fence, 1 if outside
+ * @param breach_count number of fence breaches
+ * @param breach_type last breach type (see FENCE_BREACH_* enum)
+ * @param breach_time time of last breach in milliseconds since boot
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_fence_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t breach_status, uint16_t breach_count, uint8_t breach_type, uint32_t breach_time)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[8];
+ _mav_put_uint32_t(buf, 0, breach_time);
+ _mav_put_uint16_t(buf, 4, breach_count);
+ _mav_put_uint8_t(buf, 6, breach_status);
+ _mav_put_uint8_t(buf, 7, breach_type);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8);
+#else
+ mavlink_fence_status_t packet;
+ packet.breach_time = breach_time;
+ packet.breach_count = breach_count;
+ packet.breach_status = breach_status;
+ packet.breach_type = breach_type;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS;
+ return mavlink_finalize_message(msg, system_id, component_id, 8, 189);
+}
+
+/**
+ * @brief Pack a fence_status 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param breach_status 0 if currently inside fence, 1 if outside
+ * @param breach_count number of fence breaches
+ * @param breach_type last breach type (see FENCE_BREACH_* enum)
+ * @param breach_time time of last breach in milliseconds since boot
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_fence_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t breach_status,uint16_t breach_count,uint8_t breach_type,uint32_t breach_time)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[8];
+ _mav_put_uint32_t(buf, 0, breach_time);
+ _mav_put_uint16_t(buf, 4, breach_count);
+ _mav_put_uint8_t(buf, 6, breach_status);
+ _mav_put_uint8_t(buf, 7, breach_type);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8);
+#else
+ mavlink_fence_status_t packet;
+ packet.breach_time = breach_time;
+ packet.breach_count = breach_count;
+ packet.breach_status = breach_status;
+ packet.breach_type = breach_type;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8, 189);
+}
+
+/**
+ * @brief Encode a fence_status 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 fence_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_fence_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_status_t* fence_status)
+{
+ return mavlink_msg_fence_status_pack(system_id, component_id, msg, fence_status->breach_status, fence_status->breach_count, fence_status->breach_type, fence_status->breach_time);
+}
+
+/**
+ * @brief Send a fence_status message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param breach_status 0 if currently inside fence, 1 if outside
+ * @param breach_count number of fence breaches
+ * @param breach_type last breach type (see FENCE_BREACH_* enum)
+ * @param breach_time time of last breach in milliseconds since boot
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_fence_status_send(mavlink_channel_t chan, uint8_t breach_status, uint16_t breach_count, uint8_t breach_type, uint32_t breach_time)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[8];
+ _mav_put_uint32_t(buf, 0, breach_time);
+ _mav_put_uint16_t(buf, 4, breach_count);
+ _mav_put_uint8_t(buf, 6, breach_status);
+ _mav_put_uint8_t(buf, 7, breach_type);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, buf, 8, 189);
+#else
+ mavlink_fence_status_t packet;
+ packet.breach_time = breach_time;
+ packet.breach_count = breach_count;
+ packet.breach_status = breach_status;
+ packet.breach_type = breach_type;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, (const char *)&packet, 8, 189);
+#endif
+}
+
+#endif
+
+// MESSAGE FENCE_STATUS UNPACKING
+
+
+/**
+ * @brief Get field breach_status from fence_status message
+ *
+ * @return 0 if currently inside fence, 1 if outside
+ */
+static inline uint8_t mavlink_msg_fence_status_get_breach_status(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 6);
+}
+
+/**
+ * @brief Get field breach_count from fence_status message
+ *
+ * @return number of fence breaches
+ */
+static inline uint16_t mavlink_msg_fence_status_get_breach_count(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 4);
+}
+
+/**
+ * @brief Get field breach_type from fence_status message
+ *
+ * @return last breach type (see FENCE_BREACH_* enum)
+ */
+static inline uint8_t mavlink_msg_fence_status_get_breach_type(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 7);
+}
+
+/**
+ * @brief Get field breach_time from fence_status message
+ *
+ * @return time of last breach in milliseconds since boot
+ */
+static inline uint32_t mavlink_msg_fence_status_get_breach_time(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Decode a fence_status message into a struct
+ *
+ * @param msg The message to decode
+ * @param fence_status C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_fence_status_decode(const mavlink_message_t* msg, mavlink_fence_status_t* fence_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ fence_status->breach_time = mavlink_msg_fence_status_get_breach_time(msg);
+ fence_status->breach_count = mavlink_msg_fence_status_get_breach_count(msg);
+ fence_status->breach_status = mavlink_msg_fence_status_get_breach_status(msg);
+ fence_status->breach_type = mavlink_msg_fence_status_get_breach_type(msg);
+#else
+ memcpy(fence_status, _MAV_PAYLOAD(msg), 8);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_hwstatus.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_hwstatus.h
new file mode 100644
index 0000000..952e659
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_hwstatus.h
@@ -0,0 +1,166 @@
+// MESSAGE HWSTATUS PACKING
+
+#define MAVLINK_MSG_ID_HWSTATUS 165
+
+typedef struct __mavlink_hwstatus_t
+{
+ uint16_t Vcc; ///< board voltage (mV)
+ uint8_t I2Cerr; ///< I2C error count
+} mavlink_hwstatus_t;
+
+#define MAVLINK_MSG_ID_HWSTATUS_LEN 3
+#define MAVLINK_MSG_ID_165_LEN 3
+
+
+
+#define MAVLINK_MESSAGE_INFO_HWSTATUS { \
+ "HWSTATUS", \
+ 2, \
+ { { "Vcc", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_hwstatus_t, Vcc) }, \
+ { "I2Cerr", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_hwstatus_t, I2Cerr) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a hwstatus 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 Vcc board voltage (mV)
+ * @param I2Cerr I2C error count
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_hwstatus_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint16_t Vcc, uint8_t I2Cerr)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[3];
+ _mav_put_uint16_t(buf, 0, Vcc);
+ _mav_put_uint8_t(buf, 2, I2Cerr);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
+#else
+ mavlink_hwstatus_t packet;
+ packet.Vcc = Vcc;
+ packet.I2Cerr = I2Cerr;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_HWSTATUS;
+ return mavlink_finalize_message(msg, system_id, component_id, 3, 21);
+}
+
+/**
+ * @brief Pack a hwstatus 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param Vcc board voltage (mV)
+ * @param I2Cerr I2C error count
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_hwstatus_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint16_t Vcc,uint8_t I2Cerr)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[3];
+ _mav_put_uint16_t(buf, 0, Vcc);
+ _mav_put_uint8_t(buf, 2, I2Cerr);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
+#else
+ mavlink_hwstatus_t packet;
+ packet.Vcc = Vcc;
+ packet.I2Cerr = I2Cerr;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_HWSTATUS;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 21);
+}
+
+/**
+ * @brief Encode a hwstatus 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 hwstatus C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_hwstatus_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hwstatus_t* hwstatus)
+{
+ return mavlink_msg_hwstatus_pack(system_id, component_id, msg, hwstatus->Vcc, hwstatus->I2Cerr);
+}
+
+/**
+ * @brief Send a hwstatus message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param Vcc board voltage (mV)
+ * @param I2Cerr I2C error count
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_hwstatus_send(mavlink_channel_t chan, uint16_t Vcc, uint8_t I2Cerr)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[3];
+ _mav_put_uint16_t(buf, 0, Vcc);
+ _mav_put_uint8_t(buf, 2, I2Cerr);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, buf, 3, 21);
+#else
+ mavlink_hwstatus_t packet;
+ packet.Vcc = Vcc;
+ packet.I2Cerr = I2Cerr;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, (const char *)&packet, 3, 21);
+#endif
+}
+
+#endif
+
+// MESSAGE HWSTATUS UNPACKING
+
+
+/**
+ * @brief Get field Vcc from hwstatus message
+ *
+ * @return board voltage (mV)
+ */
+static inline uint16_t mavlink_msg_hwstatus_get_Vcc(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 0);
+}
+
+/**
+ * @brief Get field I2Cerr from hwstatus message
+ *
+ * @return I2C error count
+ */
+static inline uint8_t mavlink_msg_hwstatus_get_I2Cerr(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 2);
+}
+
+/**
+ * @brief Decode a hwstatus message into a struct
+ *
+ * @param msg The message to decode
+ * @param hwstatus C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_hwstatus_decode(const mavlink_message_t* msg, mavlink_hwstatus_t* hwstatus)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ hwstatus->Vcc = mavlink_msg_hwstatus_get_Vcc(msg);
+ hwstatus->I2Cerr = mavlink_msg_hwstatus_get_I2Cerr(msg);
+#else
+ memcpy(hwstatus, _MAV_PAYLOAD(msg), 3);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_limits_status.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_limits_status.h
new file mode 100644
index 0000000..7caac1c
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_limits_status.h
@@ -0,0 +1,320 @@
+// MESSAGE LIMITS_STATUS PACKING
+
+#define MAVLINK_MSG_ID_LIMITS_STATUS 167
+
+typedef struct __mavlink_limits_status_t
+{
+ uint32_t last_trigger; ///< time of last breach in milliseconds since boot
+ uint32_t last_action; ///< time of last recovery action in milliseconds since boot
+ uint32_t last_recovery; ///< time of last successful recovery in milliseconds since boot
+ uint32_t last_clear; ///< time of last all-clear in milliseconds since boot
+ uint16_t breach_count; ///< number of fence breaches
+ uint8_t limits_state; ///< state of AP_Limits, (see enum LimitState, LIMITS_STATE)
+ uint8_t mods_enabled; ///< AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
+ uint8_t mods_required; ///< AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
+ uint8_t mods_triggered; ///< AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
+} mavlink_limits_status_t;
+
+#define MAVLINK_MSG_ID_LIMITS_STATUS_LEN 22
+#define MAVLINK_MSG_ID_167_LEN 22
+
+
+
+#define MAVLINK_MESSAGE_INFO_LIMITS_STATUS { \
+ "LIMITS_STATUS", \
+ 9, \
+ { { "last_trigger", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_limits_status_t, last_trigger) }, \
+ { "last_action", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_limits_status_t, last_action) }, \
+ { "last_recovery", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_limits_status_t, last_recovery) }, \
+ { "last_clear", NULL, MAVLINK_TYPE_UINT32_T, 0, 12, offsetof(mavlink_limits_status_t, last_clear) }, \
+ { "breach_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_limits_status_t, breach_count) }, \
+ { "limits_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_limits_status_t, limits_state) }, \
+ { "mods_enabled", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_limits_status_t, mods_enabled) }, \
+ { "mods_required", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_limits_status_t, mods_required) }, \
+ { "mods_triggered", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_limits_status_t, mods_triggered) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a limits_status 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 limits_state state of AP_Limits, (see enum LimitState, LIMITS_STATE)
+ * @param last_trigger time of last breach in milliseconds since boot
+ * @param last_action time of last recovery action in milliseconds since boot
+ * @param last_recovery time of last successful recovery in milliseconds since boot
+ * @param last_clear time of last all-clear in milliseconds since boot
+ * @param breach_count number of fence breaches
+ * @param mods_enabled AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
+ * @param mods_required AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
+ * @param mods_triggered AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_limits_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t limits_state, uint32_t last_trigger, uint32_t last_action, uint32_t last_recovery, uint32_t last_clear, uint16_t breach_count, uint8_t mods_enabled, uint8_t mods_required, uint8_t mods_triggered)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[22];
+ _mav_put_uint32_t(buf, 0, last_trigger);
+ _mav_put_uint32_t(buf, 4, last_action);
+ _mav_put_uint32_t(buf, 8, last_recovery);
+ _mav_put_uint32_t(buf, 12, last_clear);
+ _mav_put_uint16_t(buf, 16, breach_count);
+ _mav_put_uint8_t(buf, 18, limits_state);
+ _mav_put_uint8_t(buf, 19, mods_enabled);
+ _mav_put_uint8_t(buf, 20, mods_required);
+ _mav_put_uint8_t(buf, 21, mods_triggered);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22);
+#else
+ mavlink_limits_status_t packet;
+ packet.last_trigger = last_trigger;
+ packet.last_action = last_action;
+ packet.last_recovery = last_recovery;
+ packet.last_clear = last_clear;
+ packet.breach_count = breach_count;
+ packet.limits_state = limits_state;
+ packet.mods_enabled = mods_enabled;
+ packet.mods_required = mods_required;
+ packet.mods_triggered = mods_triggered;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_LIMITS_STATUS;
+ return mavlink_finalize_message(msg, system_id, component_id, 22, 144);
+}
+
+/**
+ * @brief Pack a limits_status 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param limits_state state of AP_Limits, (see enum LimitState, LIMITS_STATE)
+ * @param last_trigger time of last breach in milliseconds since boot
+ * @param last_action time of last recovery action in milliseconds since boot
+ * @param last_recovery time of last successful recovery in milliseconds since boot
+ * @param last_clear time of last all-clear in milliseconds since boot
+ * @param breach_count number of fence breaches
+ * @param mods_enabled AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
+ * @param mods_required AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
+ * @param mods_triggered AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_limits_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t limits_state,uint32_t last_trigger,uint32_t last_action,uint32_t last_recovery,uint32_t last_clear,uint16_t breach_count,uint8_t mods_enabled,uint8_t mods_required,uint8_t mods_triggered)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[22];
+ _mav_put_uint32_t(buf, 0, last_trigger);
+ _mav_put_uint32_t(buf, 4, last_action);
+ _mav_put_uint32_t(buf, 8, last_recovery);
+ _mav_put_uint32_t(buf, 12, last_clear);
+ _mav_put_uint16_t(buf, 16, breach_count);
+ _mav_put_uint8_t(buf, 18, limits_state);
+ _mav_put_uint8_t(buf, 19, mods_enabled);
+ _mav_put_uint8_t(buf, 20, mods_required);
+ _mav_put_uint8_t(buf, 21, mods_triggered);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22);
+#else
+ mavlink_limits_status_t packet;
+ packet.last_trigger = last_trigger;
+ packet.last_action = last_action;
+ packet.last_recovery = last_recovery;
+ packet.last_clear = last_clear;
+ packet.breach_count = breach_count;
+ packet.limits_state = limits_state;
+ packet.mods_enabled = mods_enabled;
+ packet.mods_required = mods_required;
+ packet.mods_triggered = mods_triggered;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_LIMITS_STATUS;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 22, 144);
+}
+
+/**
+ * @brief Encode a limits_status 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 limits_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_limits_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_limits_status_t* limits_status)
+{
+ return mavlink_msg_limits_status_pack(system_id, component_id, msg, limits_status->limits_state, limits_status->last_trigger, limits_status->last_action, limits_status->last_recovery, limits_status->last_clear, limits_status->breach_count, limits_status->mods_enabled, limits_status->mods_required, limits_status->mods_triggered);
+}
+
+/**
+ * @brief Send a limits_status message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param limits_state state of AP_Limits, (see enum LimitState, LIMITS_STATE)
+ * @param last_trigger time of last breach in milliseconds since boot
+ * @param last_action time of last recovery action in milliseconds since boot
+ * @param last_recovery time of last successful recovery in milliseconds since boot
+ * @param last_clear time of last all-clear in milliseconds since boot
+ * @param breach_count number of fence breaches
+ * @param mods_enabled AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
+ * @param mods_required AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
+ * @param mods_triggered AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_limits_status_send(mavlink_channel_t chan, uint8_t limits_state, uint32_t last_trigger, uint32_t last_action, uint32_t last_recovery, uint32_t last_clear, uint16_t breach_count, uint8_t mods_enabled, uint8_t mods_required, uint8_t mods_triggered)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[22];
+ _mav_put_uint32_t(buf, 0, last_trigger);
+ _mav_put_uint32_t(buf, 4, last_action);
+ _mav_put_uint32_t(buf, 8, last_recovery);
+ _mav_put_uint32_t(buf, 12, last_clear);
+ _mav_put_uint16_t(buf, 16, breach_count);
+ _mav_put_uint8_t(buf, 18, limits_state);
+ _mav_put_uint8_t(buf, 19, mods_enabled);
+ _mav_put_uint8_t(buf, 20, mods_required);
+ _mav_put_uint8_t(buf, 21, mods_triggered);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, buf, 22, 144);
+#else
+ mavlink_limits_status_t packet;
+ packet.last_trigger = last_trigger;
+ packet.last_action = last_action;
+ packet.last_recovery = last_recovery;
+ packet.last_clear = last_clear;
+ packet.breach_count = breach_count;
+ packet.limits_state = limits_state;
+ packet.mods_enabled = mods_enabled;
+ packet.mods_required = mods_required;
+ packet.mods_triggered = mods_triggered;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, (const char *)&packet, 22, 144);
+#endif
+}
+
+#endif
+
+// MESSAGE LIMITS_STATUS UNPACKING
+
+
+/**
+ * @brief Get field limits_state from limits_status message
+ *
+ * @return state of AP_Limits, (see enum LimitState, LIMITS_STATE)
+ */
+static inline uint8_t mavlink_msg_limits_status_get_limits_state(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 18);
+}
+
+/**
+ * @brief Get field last_trigger from limits_status message
+ *
+ * @return time of last breach in milliseconds since boot
+ */
+static inline uint32_t mavlink_msg_limits_status_get_last_trigger(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field last_action from limits_status message
+ *
+ * @return time of last recovery action in milliseconds since boot
+ */
+static inline uint32_t mavlink_msg_limits_status_get_last_action(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 4);
+}
+
+/**
+ * @brief Get field last_recovery from limits_status message
+ *
+ * @return time of last successful recovery in milliseconds since boot
+ */
+static inline uint32_t mavlink_msg_limits_status_get_last_recovery(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 8);
+}
+
+/**
+ * @brief Get field last_clear from limits_status message
+ *
+ * @return time of last all-clear in milliseconds since boot
+ */
+static inline uint32_t mavlink_msg_limits_status_get_last_clear(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 12);
+}
+
+/**
+ * @brief Get field breach_count from limits_status message
+ *
+ * @return number of fence breaches
+ */
+static inline uint16_t mavlink_msg_limits_status_get_breach_count(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 16);
+}
+
+/**
+ * @brief Get field mods_enabled from limits_status message
+ *
+ * @return AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
+ */
+static inline uint8_t mavlink_msg_limits_status_get_mods_enabled(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 19);
+}
+
+/**
+ * @brief Get field mods_required from limits_status message
+ *
+ * @return AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
+ */
+static inline uint8_t mavlink_msg_limits_status_get_mods_required(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 20);
+}
+
+/**
+ * @brief Get field mods_triggered from limits_status message
+ *
+ * @return AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
+ */
+static inline uint8_t mavlink_msg_limits_status_get_mods_triggered(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 21);
+}
+
+/**
+ * @brief Decode a limits_status message into a struct
+ *
+ * @param msg The message to decode
+ * @param limits_status C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_limits_status_decode(const mavlink_message_t* msg, mavlink_limits_status_t* limits_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ limits_status->last_trigger = mavlink_msg_limits_status_get_last_trigger(msg);
+ limits_status->last_action = mavlink_msg_limits_status_get_last_action(msg);
+ limits_status->last_recovery = mavlink_msg_limits_status_get_last_recovery(msg);
+ limits_status->last_clear = mavlink_msg_limits_status_get_last_clear(msg);
+ limits_status->breach_count = mavlink_msg_limits_status_get_breach_count(msg);
+ limits_status->limits_state = mavlink_msg_limits_status_get_limits_state(msg);
+ limits_status->mods_enabled = mavlink_msg_limits_status_get_mods_enabled(msg);
+ limits_status->mods_required = mavlink_msg_limits_status_get_mods_required(msg);
+ limits_status->mods_triggered = mavlink_msg_limits_status_get_mods_triggered(msg);
+#else
+ memcpy(limits_status, _MAV_PAYLOAD(msg), 22);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_meminfo.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_meminfo.h
new file mode 100644
index 0000000..a095a80
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_meminfo.h
@@ -0,0 +1,166 @@
+// MESSAGE MEMINFO PACKING
+
+#define MAVLINK_MSG_ID_MEMINFO 152
+
+typedef struct __mavlink_meminfo_t
+{
+ uint16_t brkval; ///< heap top
+ uint16_t freemem; ///< free memory
+} mavlink_meminfo_t;
+
+#define MAVLINK_MSG_ID_MEMINFO_LEN 4
+#define MAVLINK_MSG_ID_152_LEN 4
+
+
+
+#define MAVLINK_MESSAGE_INFO_MEMINFO { \
+ "MEMINFO", \
+ 2, \
+ { { "brkval", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_meminfo_t, brkval) }, \
+ { "freemem", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_meminfo_t, freemem) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a meminfo 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 brkval heap top
+ * @param freemem free memory
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_meminfo_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint16_t brkval, uint16_t freemem)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[4];
+ _mav_put_uint16_t(buf, 0, brkval);
+ _mav_put_uint16_t(buf, 2, freemem);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
+#else
+ mavlink_meminfo_t packet;
+ packet.brkval = brkval;
+ packet.freemem = freemem;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MEMINFO;
+ return mavlink_finalize_message(msg, system_id, component_id, 4, 208);
+}
+
+/**
+ * @brief Pack a meminfo 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param brkval heap top
+ * @param freemem free memory
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_meminfo_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint16_t brkval,uint16_t freemem)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[4];
+ _mav_put_uint16_t(buf, 0, brkval);
+ _mav_put_uint16_t(buf, 2, freemem);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
+#else
+ mavlink_meminfo_t packet;
+ packet.brkval = brkval;
+ packet.freemem = freemem;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MEMINFO;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 208);
+}
+
+/**
+ * @brief Encode a meminfo 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 meminfo C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_meminfo_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_meminfo_t* meminfo)
+{
+ return mavlink_msg_meminfo_pack(system_id, component_id, msg, meminfo->brkval, meminfo->freemem);
+}
+
+/**
+ * @brief Send a meminfo message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param brkval heap top
+ * @param freemem free memory
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_meminfo_send(mavlink_channel_t chan, uint16_t brkval, uint16_t freemem)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[4];
+ _mav_put_uint16_t(buf, 0, brkval);
+ _mav_put_uint16_t(buf, 2, freemem);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, buf, 4, 208);
+#else
+ mavlink_meminfo_t packet;
+ packet.brkval = brkval;
+ packet.freemem = freemem;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)&packet, 4, 208);
+#endif
+}
+
+#endif
+
+// MESSAGE MEMINFO UNPACKING
+
+
+/**
+ * @brief Get field brkval from meminfo message
+ *
+ * @return heap top
+ */
+static inline uint16_t mavlink_msg_meminfo_get_brkval(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 0);
+}
+
+/**
+ * @brief Get field freemem from meminfo message
+ *
+ * @return free memory
+ */
+static inline uint16_t mavlink_msg_meminfo_get_freemem(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 2);
+}
+
+/**
+ * @brief Decode a meminfo message into a struct
+ *
+ * @param msg The message to decode
+ * @param meminfo C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_meminfo_decode(const mavlink_message_t* msg, mavlink_meminfo_t* meminfo)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ meminfo->brkval = mavlink_msg_meminfo_get_brkval(msg);
+ meminfo->freemem = mavlink_msg_meminfo_get_freemem(msg);
+#else
+ memcpy(meminfo, _MAV_PAYLOAD(msg), 4);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_configure.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_configure.h
new file mode 100644
index 0000000..051a718
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_configure.h
@@ -0,0 +1,254 @@
+// MESSAGE MOUNT_CONFIGURE PACKING
+
+#define MAVLINK_MSG_ID_MOUNT_CONFIGURE 156
+
+typedef struct __mavlink_mount_configure_t
+{
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ uint8_t mount_mode; ///< mount operating mode (see MAV_MOUNT_MODE enum)
+ uint8_t stab_roll; ///< (1 = yes, 0 = no)
+ uint8_t stab_pitch; ///< (1 = yes, 0 = no)
+ uint8_t stab_yaw; ///< (1 = yes, 0 = no)
+} mavlink_mount_configure_t;
+
+#define MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN 6
+#define MAVLINK_MSG_ID_156_LEN 6
+
+
+
+#define MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE { \
+ "MOUNT_CONFIGURE", \
+ 6, \
+ { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mount_configure_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mount_configure_t, target_component) }, \
+ { "mount_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mount_configure_t, mount_mode) }, \
+ { "stab_roll", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_mount_configure_t, stab_roll) }, \
+ { "stab_pitch", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_mount_configure_t, stab_pitch) }, \
+ { "stab_yaw", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_mount_configure_t, stab_yaw) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a mount_configure 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_system System ID
+ * @param target_component Component ID
+ * @param mount_mode mount operating mode (see MAV_MOUNT_MODE enum)
+ * @param stab_roll (1 = yes, 0 = no)
+ * @param stab_pitch (1 = yes, 0 = no)
+ * @param stab_yaw (1 = yes, 0 = no)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mount_configure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, uint8_t mount_mode, uint8_t stab_roll, uint8_t stab_pitch, uint8_t stab_yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[6];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+ _mav_put_uint8_t(buf, 2, mount_mode);
+ _mav_put_uint8_t(buf, 3, stab_roll);
+ _mav_put_uint8_t(buf, 4, stab_pitch);
+ _mav_put_uint8_t(buf, 5, stab_yaw);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
+#else
+ mavlink_mount_configure_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.mount_mode = mount_mode;
+ packet.stab_roll = stab_roll;
+ packet.stab_pitch = stab_pitch;
+ packet.stab_yaw = stab_yaw;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MOUNT_CONFIGURE;
+ return mavlink_finalize_message(msg, system_id, component_id, 6, 19);
+}
+
+/**
+ * @brief Pack a mount_configure 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param mount_mode mount operating mode (see MAV_MOUNT_MODE enum)
+ * @param stab_roll (1 = yes, 0 = no)
+ * @param stab_pitch (1 = yes, 0 = no)
+ * @param stab_yaw (1 = yes, 0 = no)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mount_configure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,uint8_t mount_mode,uint8_t stab_roll,uint8_t stab_pitch,uint8_t stab_yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[6];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+ _mav_put_uint8_t(buf, 2, mount_mode);
+ _mav_put_uint8_t(buf, 3, stab_roll);
+ _mav_put_uint8_t(buf, 4, stab_pitch);
+ _mav_put_uint8_t(buf, 5, stab_yaw);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
+#else
+ mavlink_mount_configure_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.mount_mode = mount_mode;
+ packet.stab_roll = stab_roll;
+ packet.stab_pitch = stab_pitch;
+ packet.stab_yaw = stab_yaw;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MOUNT_CONFIGURE;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6, 19);
+}
+
+/**
+ * @brief Encode a mount_configure 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 mount_configure C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mount_configure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_configure_t* mount_configure)
+{
+ return mavlink_msg_mount_configure_pack(system_id, component_id, msg, mount_configure->target_system, mount_configure->target_component, mount_configure->mount_mode, mount_configure->stab_roll, mount_configure->stab_pitch, mount_configure->stab_yaw);
+}
+
+/**
+ * @brief Send a mount_configure message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param mount_mode mount operating mode (see MAV_MOUNT_MODE enum)
+ * @param stab_roll (1 = yes, 0 = no)
+ * @param stab_pitch (1 = yes, 0 = no)
+ * @param stab_yaw (1 = yes, 0 = no)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_mount_configure_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t mount_mode, uint8_t stab_roll, uint8_t stab_pitch, uint8_t stab_yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[6];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+ _mav_put_uint8_t(buf, 2, mount_mode);
+ _mav_put_uint8_t(buf, 3, stab_roll);
+ _mav_put_uint8_t(buf, 4, stab_pitch);
+ _mav_put_uint8_t(buf, 5, stab_yaw);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, buf, 6, 19);
+#else
+ mavlink_mount_configure_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.mount_mode = mount_mode;
+ packet.stab_roll = stab_roll;
+ packet.stab_pitch = stab_pitch;
+ packet.stab_yaw = stab_yaw;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, (const char *)&packet, 6, 19);
+#endif
+}
+
+#endif
+
+// MESSAGE MOUNT_CONFIGURE UNPACKING
+
+
+/**
+ * @brief Get field target_system from mount_configure message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_mount_configure_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 0);
+}
+
+/**
+ * @brief Get field target_component from mount_configure message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_mount_configure_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 1);
+}
+
+/**
+ * @brief Get field mount_mode from mount_configure message
+ *
+ * @return mount operating mode (see MAV_MOUNT_MODE enum)
+ */
+static inline uint8_t mavlink_msg_mount_configure_get_mount_mode(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 2);
+}
+
+/**
+ * @brief Get field stab_roll from mount_configure message
+ *
+ * @return (1 = yes, 0 = no)
+ */
+static inline uint8_t mavlink_msg_mount_configure_get_stab_roll(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 3);
+}
+
+/**
+ * @brief Get field stab_pitch from mount_configure message
+ *
+ * @return (1 = yes, 0 = no)
+ */
+static inline uint8_t mavlink_msg_mount_configure_get_stab_pitch(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 4);
+}
+
+/**
+ * @brief Get field stab_yaw from mount_configure message
+ *
+ * @return (1 = yes, 0 = no)
+ */
+static inline uint8_t mavlink_msg_mount_configure_get_stab_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 5);
+}
+
+/**
+ * @brief Decode a mount_configure message into a struct
+ *
+ * @param msg The message to decode
+ * @param mount_configure C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_mount_configure_decode(const mavlink_message_t* msg, mavlink_mount_configure_t* mount_configure)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mount_configure->target_system = mavlink_msg_mount_configure_get_target_system(msg);
+ mount_configure->target_component = mavlink_msg_mount_configure_get_target_component(msg);
+ mount_configure->mount_mode = mavlink_msg_mount_configure_get_mount_mode(msg);
+ mount_configure->stab_roll = mavlink_msg_mount_configure_get_stab_roll(msg);
+ mount_configure->stab_pitch = mavlink_msg_mount_configure_get_stab_pitch(msg);
+ mount_configure->stab_yaw = mavlink_msg_mount_configure_get_stab_yaw(msg);
+#else
+ memcpy(mount_configure, _MAV_PAYLOAD(msg), 6);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_control.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_control.h
new file mode 100644
index 0000000..a519922
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_control.h
@@ -0,0 +1,254 @@
+// MESSAGE MOUNT_CONTROL PACKING
+
+#define MAVLINK_MSG_ID_MOUNT_CONTROL 157
+
+typedef struct __mavlink_mount_control_t
+{
+ int32_t input_a; ///< pitch(deg*100) or lat, depending on mount mode
+ int32_t input_b; ///< roll(deg*100) or lon depending on mount mode
+ int32_t input_c; ///< yaw(deg*100) or alt (in cm) depending on mount mode
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ uint8_t save_position; ///< if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
+} mavlink_mount_control_t;
+
+#define MAVLINK_MSG_ID_MOUNT_CONTROL_LEN 15
+#define MAVLINK_MSG_ID_157_LEN 15
+
+
+
+#define MAVLINK_MESSAGE_INFO_MOUNT_CONTROL { \
+ "MOUNT_CONTROL", \
+ 6, \
+ { { "input_a", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_mount_control_t, input_a) }, \
+ { "input_b", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_mount_control_t, input_b) }, \
+ { "input_c", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_mount_control_t, input_c) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_mount_control_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_mount_control_t, target_component) }, \
+ { "save_position", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_mount_control_t, save_position) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a mount_control 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_system System ID
+ * @param target_component Component ID
+ * @param input_a pitch(deg*100) or lat, depending on mount mode
+ * @param input_b roll(deg*100) or lon depending on mount mode
+ * @param input_c yaw(deg*100) or alt (in cm) depending on mount mode
+ * @param save_position if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mount_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, int32_t input_a, int32_t input_b, int32_t input_c, uint8_t save_position)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[15];
+ _mav_put_int32_t(buf, 0, input_a);
+ _mav_put_int32_t(buf, 4, input_b);
+ _mav_put_int32_t(buf, 8, input_c);
+ _mav_put_uint8_t(buf, 12, target_system);
+ _mav_put_uint8_t(buf, 13, target_component);
+ _mav_put_uint8_t(buf, 14, save_position);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15);
+#else
+ mavlink_mount_control_t packet;
+ packet.input_a = input_a;
+ packet.input_b = input_b;
+ packet.input_c = input_c;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.save_position = save_position;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL;
+ return mavlink_finalize_message(msg, system_id, component_id, 15, 21);
+}
+
+/**
+ * @brief Pack a mount_control 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param input_a pitch(deg*100) or lat, depending on mount mode
+ * @param input_b roll(deg*100) or lon depending on mount mode
+ * @param input_c yaw(deg*100) or alt (in cm) depending on mount mode
+ * @param save_position if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mount_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,int32_t input_a,int32_t input_b,int32_t input_c,uint8_t save_position)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[15];
+ _mav_put_int32_t(buf, 0, input_a);
+ _mav_put_int32_t(buf, 4, input_b);
+ _mav_put_int32_t(buf, 8, input_c);
+ _mav_put_uint8_t(buf, 12, target_system);
+ _mav_put_uint8_t(buf, 13, target_component);
+ _mav_put_uint8_t(buf, 14, save_position);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15);
+#else
+ mavlink_mount_control_t packet;
+ packet.input_a = input_a;
+ packet.input_b = input_b;
+ packet.input_c = input_c;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.save_position = save_position;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 15, 21);
+}
+
+/**
+ * @brief Encode a mount_control 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 mount_control C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mount_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_control_t* mount_control)
+{
+ return mavlink_msg_mount_control_pack(system_id, component_id, msg, mount_control->target_system, mount_control->target_component, mount_control->input_a, mount_control->input_b, mount_control->input_c, mount_control->save_position);
+}
+
+/**
+ * @brief Send a mount_control message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param input_a pitch(deg*100) or lat, depending on mount mode
+ * @param input_b roll(deg*100) or lon depending on mount mode
+ * @param input_c yaw(deg*100) or alt (in cm) depending on mount mode
+ * @param save_position if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_mount_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t input_a, int32_t input_b, int32_t input_c, uint8_t save_position)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[15];
+ _mav_put_int32_t(buf, 0, input_a);
+ _mav_put_int32_t(buf, 4, input_b);
+ _mav_put_int32_t(buf, 8, input_c);
+ _mav_put_uint8_t(buf, 12, target_system);
+ _mav_put_uint8_t(buf, 13, target_component);
+ _mav_put_uint8_t(buf, 14, save_position);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, buf, 15, 21);
+#else
+ mavlink_mount_control_t packet;
+ packet.input_a = input_a;
+ packet.input_b = input_b;
+ packet.input_c = input_c;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.save_position = save_position;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, (const char *)&packet, 15, 21);
+#endif
+}
+
+#endif
+
+// MESSAGE MOUNT_CONTROL UNPACKING
+
+
+/**
+ * @brief Get field target_system from mount_control message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_mount_control_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 12);
+}
+
+/**
+ * @brief Get field target_component from mount_control message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_mount_control_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 13);
+}
+
+/**
+ * @brief Get field input_a from mount_control message
+ *
+ * @return pitch(deg*100) or lat, depending on mount mode
+ */
+static inline int32_t mavlink_msg_mount_control_get_input_a(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 0);
+}
+
+/**
+ * @brief Get field input_b from mount_control message
+ *
+ * @return roll(deg*100) or lon depending on mount mode
+ */
+static inline int32_t mavlink_msg_mount_control_get_input_b(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 4);
+}
+
+/**
+ * @brief Get field input_c from mount_control message
+ *
+ * @return yaw(deg*100) or alt (in cm) depending on mount mode
+ */
+static inline int32_t mavlink_msg_mount_control_get_input_c(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 8);
+}
+
+/**
+ * @brief Get field save_position from mount_control message
+ *
+ * @return if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
+ */
+static inline uint8_t mavlink_msg_mount_control_get_save_position(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 14);
+}
+
+/**
+ * @brief Decode a mount_control message into a struct
+ *
+ * @param msg The message to decode
+ * @param mount_control C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_mount_control_decode(const mavlink_message_t* msg, mavlink_mount_control_t* mount_control)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mount_control->input_a = mavlink_msg_mount_control_get_input_a(msg);
+ mount_control->input_b = mavlink_msg_mount_control_get_input_b(msg);
+ mount_control->input_c = mavlink_msg_mount_control_get_input_c(msg);
+ mount_control->target_system = mavlink_msg_mount_control_get_target_system(msg);
+ mount_control->target_component = mavlink_msg_mount_control_get_target_component(msg);
+ mount_control->save_position = mavlink_msg_mount_control_get_save_position(msg);
+#else
+ memcpy(mount_control, _MAV_PAYLOAD(msg), 15);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_status.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_status.h
new file mode 100644
index 0000000..edc188e
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_status.h
@@ -0,0 +1,232 @@
+// MESSAGE MOUNT_STATUS PACKING
+
+#define MAVLINK_MSG_ID_MOUNT_STATUS 158
+
+typedef struct __mavlink_mount_status_t
+{
+ int32_t pointing_a; ///< pitch(deg*100) or lat, depending on mount mode
+ int32_t pointing_b; ///< roll(deg*100) or lon depending on mount mode
+ int32_t pointing_c; ///< yaw(deg*100) or alt (in cm) depending on mount mode
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_mount_status_t;
+
+#define MAVLINK_MSG_ID_MOUNT_STATUS_LEN 14
+#define MAVLINK_MSG_ID_158_LEN 14
+
+
+
+#define MAVLINK_MESSAGE_INFO_MOUNT_STATUS { \
+ "MOUNT_STATUS", \
+ 5, \
+ { { "pointing_a", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_mount_status_t, pointing_a) }, \
+ { "pointing_b", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_mount_status_t, pointing_b) }, \
+ { "pointing_c", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_mount_status_t, pointing_c) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_mount_status_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_mount_status_t, target_component) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a mount_status 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_system System ID
+ * @param target_component Component ID
+ * @param pointing_a pitch(deg*100) or lat, depending on mount mode
+ * @param pointing_b roll(deg*100) or lon depending on mount mode
+ * @param pointing_c yaw(deg*100) or alt (in cm) depending on mount mode
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mount_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, int32_t pointing_a, int32_t pointing_b, int32_t pointing_c)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[14];
+ _mav_put_int32_t(buf, 0, pointing_a);
+ _mav_put_int32_t(buf, 4, pointing_b);
+ _mav_put_int32_t(buf, 8, pointing_c);
+ _mav_put_uint8_t(buf, 12, target_system);
+ _mav_put_uint8_t(buf, 13, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 14);
+#else
+ mavlink_mount_status_t packet;
+ packet.pointing_a = pointing_a;
+ packet.pointing_b = pointing_b;
+ packet.pointing_c = pointing_c;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 14);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MOUNT_STATUS;
+ return mavlink_finalize_message(msg, system_id, component_id, 14, 134);
+}
+
+/**
+ * @brief Pack a mount_status 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param pointing_a pitch(deg*100) or lat, depending on mount mode
+ * @param pointing_b roll(deg*100) or lon depending on mount mode
+ * @param pointing_c yaw(deg*100) or alt (in cm) depending on mount mode
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mount_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,int32_t pointing_a,int32_t pointing_b,int32_t pointing_c)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[14];
+ _mav_put_int32_t(buf, 0, pointing_a);
+ _mav_put_int32_t(buf, 4, pointing_b);
+ _mav_put_int32_t(buf, 8, pointing_c);
+ _mav_put_uint8_t(buf, 12, target_system);
+ _mav_put_uint8_t(buf, 13, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 14);
+#else
+ mavlink_mount_status_t packet;
+ packet.pointing_a = pointing_a;
+ packet.pointing_b = pointing_b;
+ packet.pointing_c = pointing_c;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 14);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MOUNT_STATUS;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14, 134);
+}
+
+/**
+ * @brief Encode a mount_status 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 mount_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mount_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_status_t* mount_status)
+{
+ return mavlink_msg_mount_status_pack(system_id, component_id, msg, mount_status->target_system, mount_status->target_component, mount_status->pointing_a, mount_status->pointing_b, mount_status->pointing_c);
+}
+
+/**
+ * @brief Send a mount_status message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param pointing_a pitch(deg*100) or lat, depending on mount mode
+ * @param pointing_b roll(deg*100) or lon depending on mount mode
+ * @param pointing_c yaw(deg*100) or alt (in cm) depending on mount mode
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_mount_status_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t pointing_a, int32_t pointing_b, int32_t pointing_c)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[14];
+ _mav_put_int32_t(buf, 0, pointing_a);
+ _mav_put_int32_t(buf, 4, pointing_b);
+ _mav_put_int32_t(buf, 8, pointing_c);
+ _mav_put_uint8_t(buf, 12, target_system);
+ _mav_put_uint8_t(buf, 13, target_component);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, buf, 14, 134);
+#else
+ mavlink_mount_status_t packet;
+ packet.pointing_a = pointing_a;
+ packet.pointing_b = pointing_b;
+ packet.pointing_c = pointing_c;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, (const char *)&packet, 14, 134);
+#endif
+}
+
+#endif
+
+// MESSAGE MOUNT_STATUS UNPACKING
+
+
+/**
+ * @brief Get field target_system from mount_status message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_mount_status_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 12);
+}
+
+/**
+ * @brief Get field target_component from mount_status message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_mount_status_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 13);
+}
+
+/**
+ * @brief Get field pointing_a from mount_status message
+ *
+ * @return pitch(deg*100) or lat, depending on mount mode
+ */
+static inline int32_t mavlink_msg_mount_status_get_pointing_a(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 0);
+}
+
+/**
+ * @brief Get field pointing_b from mount_status message
+ *
+ * @return roll(deg*100) or lon depending on mount mode
+ */
+static inline int32_t mavlink_msg_mount_status_get_pointing_b(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 4);
+}
+
+/**
+ * @brief Get field pointing_c from mount_status message
+ *
+ * @return yaw(deg*100) or alt (in cm) depending on mount mode
+ */
+static inline int32_t mavlink_msg_mount_status_get_pointing_c(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 8);
+}
+
+/**
+ * @brief Decode a mount_status message into a struct
+ *
+ * @param msg The message to decode
+ * @param mount_status C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_mount_status_decode(const mavlink_message_t* msg, mavlink_mount_status_t* mount_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mount_status->pointing_a = mavlink_msg_mount_status_get_pointing_a(msg);
+ mount_status->pointing_b = mavlink_msg_mount_status_get_pointing_b(msg);
+ mount_status->pointing_c = mavlink_msg_mount_status_get_pointing_c(msg);
+ mount_status->target_system = mavlink_msg_mount_status_get_target_system(msg);
+ mount_status->target_component = mavlink_msg_mount_status_get_target_component(msg);
+#else
+ memcpy(mount_status, _MAV_PAYLOAD(msg), 14);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h
new file mode 100644
index 0000000..0f3d03c
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h
@@ -0,0 +1,276 @@
+// MESSAGE RADIO PACKING
+
+#define MAVLINK_MSG_ID_RADIO 166
+
+typedef struct __mavlink_radio_t
+{
+ uint16_t rxerrors; ///< receive errors
+ uint16_t fixed; ///< count of error corrected packets
+ uint8_t rssi; ///< local signal strength
+ uint8_t remrssi; ///< remote signal strength
+ uint8_t txbuf; ///< how full the tx buffer is as a percentage
+ uint8_t noise; ///< background noise level
+ uint8_t remnoise; ///< remote background noise level
+} mavlink_radio_t;
+
+#define MAVLINK_MSG_ID_RADIO_LEN 9
+#define MAVLINK_MSG_ID_166_LEN 9
+
+
+
+#define MAVLINK_MESSAGE_INFO_RADIO { \
+ "RADIO", \
+ 7, \
+ { { "rxerrors", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_radio_t, rxerrors) }, \
+ { "fixed", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_radio_t, fixed) }, \
+ { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_radio_t, rssi) }, \
+ { "remrssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_radio_t, remrssi) }, \
+ { "txbuf", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_radio_t, txbuf) }, \
+ { "noise", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_radio_t, noise) }, \
+ { "remnoise", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_radio_t, remnoise) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a radio 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 rssi local signal strength
+ * @param remrssi remote signal strength
+ * @param txbuf how full the tx buffer is as a percentage
+ * @param noise background noise level
+ * @param remnoise remote background noise level
+ * @param rxerrors receive errors
+ * @param fixed count of error corrected packets
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_radio_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[9];
+ _mav_put_uint16_t(buf, 0, rxerrors);
+ _mav_put_uint16_t(buf, 2, fixed);
+ _mav_put_uint8_t(buf, 4, rssi);
+ _mav_put_uint8_t(buf, 5, remrssi);
+ _mav_put_uint8_t(buf, 6, txbuf);
+ _mav_put_uint8_t(buf, 7, noise);
+ _mav_put_uint8_t(buf, 8, remnoise);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
+#else
+ mavlink_radio_t packet;
+ packet.rxerrors = rxerrors;
+ packet.fixed = fixed;
+ packet.rssi = rssi;
+ packet.remrssi = remrssi;
+ packet.txbuf = txbuf;
+ packet.noise = noise;
+ packet.remnoise = remnoise;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_RADIO;
+ return mavlink_finalize_message(msg, system_id, component_id, 9, 21);
+}
+
+/**
+ * @brief Pack a radio 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param rssi local signal strength
+ * @param remrssi remote signal strength
+ * @param txbuf how full the tx buffer is as a percentage
+ * @param noise background noise level
+ * @param remnoise remote background noise level
+ * @param rxerrors receive errors
+ * @param fixed count of error corrected packets
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_radio_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t rssi,uint8_t remrssi,uint8_t txbuf,uint8_t noise,uint8_t remnoise,uint16_t rxerrors,uint16_t fixed)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[9];
+ _mav_put_uint16_t(buf, 0, rxerrors);
+ _mav_put_uint16_t(buf, 2, fixed);
+ _mav_put_uint8_t(buf, 4, rssi);
+ _mav_put_uint8_t(buf, 5, remrssi);
+ _mav_put_uint8_t(buf, 6, txbuf);
+ _mav_put_uint8_t(buf, 7, noise);
+ _mav_put_uint8_t(buf, 8, remnoise);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
+#else
+ mavlink_radio_t packet;
+ packet.rxerrors = rxerrors;
+ packet.fixed = fixed;
+ packet.rssi = rssi;
+ packet.remrssi = remrssi;
+ packet.txbuf = txbuf;
+ packet.noise = noise;
+ packet.remnoise = remnoise;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_RADIO;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 21);
+}
+
+/**
+ * @brief Encode a radio 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 radio C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_radio_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_radio_t* radio)
+{
+ return mavlink_msg_radio_pack(system_id, component_id, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed);
+}
+
+/**
+ * @brief Send a radio message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param rssi local signal strength
+ * @param remrssi remote signal strength
+ * @param txbuf how full the tx buffer is as a percentage
+ * @param noise background noise level
+ * @param remnoise remote background noise level
+ * @param rxerrors receive errors
+ * @param fixed count of error corrected packets
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_radio_send(mavlink_channel_t chan, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[9];
+ _mav_put_uint16_t(buf, 0, rxerrors);
+ _mav_put_uint16_t(buf, 2, fixed);
+ _mav_put_uint8_t(buf, 4, rssi);
+ _mav_put_uint8_t(buf, 5, remrssi);
+ _mav_put_uint8_t(buf, 6, txbuf);
+ _mav_put_uint8_t(buf, 7, noise);
+ _mav_put_uint8_t(buf, 8, remnoise);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, 9, 21);
+#else
+ mavlink_radio_t packet;
+ packet.rxerrors = rxerrors;
+ packet.fixed = fixed;
+ packet.rssi = rssi;
+ packet.remrssi = remrssi;
+ packet.txbuf = txbuf;
+ packet.noise = noise;
+ packet.remnoise = remnoise;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)&packet, 9, 21);
+#endif
+}
+
+#endif
+
+// MESSAGE RADIO UNPACKING
+
+
+/**
+ * @brief Get field rssi from radio message
+ *
+ * @return local signal strength
+ */
+static inline uint8_t mavlink_msg_radio_get_rssi(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 4);
+}
+
+/**
+ * @brief Get field remrssi from radio message
+ *
+ * @return remote signal strength
+ */
+static inline uint8_t mavlink_msg_radio_get_remrssi(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 5);
+}
+
+/**
+ * @brief Get field txbuf from radio message
+ *
+ * @return how full the tx buffer is as a percentage
+ */
+static inline uint8_t mavlink_msg_radio_get_txbuf(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 6);
+}
+
+/**
+ * @brief Get field noise from radio message
+ *
+ * @return background noise level
+ */
+static inline uint8_t mavlink_msg_radio_get_noise(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 7);
+}
+
+/**
+ * @brief Get field remnoise from radio message
+ *
+ * @return remote background noise level
+ */
+static inline uint8_t mavlink_msg_radio_get_remnoise(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 8);
+}
+
+/**
+ * @brief Get field rxerrors from radio message
+ *
+ * @return receive errors
+ */
+static inline uint16_t mavlink_msg_radio_get_rxerrors(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 0);
+}
+
+/**
+ * @brief Get field fixed from radio message
+ *
+ * @return count of error corrected packets
+ */
+static inline uint16_t mavlink_msg_radio_get_fixed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 2);
+}
+
+/**
+ * @brief Decode a radio message into a struct
+ *
+ * @param msg The message to decode
+ * @param radio C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_radio_decode(const mavlink_message_t* msg, mavlink_radio_t* radio)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ radio->rxerrors = mavlink_msg_radio_get_rxerrors(msg);
+ radio->fixed = mavlink_msg_radio_get_fixed(msg);
+ radio->rssi = mavlink_msg_radio_get_rssi(msg);
+ radio->remrssi = mavlink_msg_radio_get_remrssi(msg);
+ radio->txbuf = mavlink_msg_radio_get_txbuf(msg);
+ radio->noise = mavlink_msg_radio_get_noise(msg);
+ radio->remnoise = mavlink_msg_radio_get_remnoise(msg);
+#else
+ memcpy(radio, _MAV_PAYLOAD(msg), 9);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h
new file mode 100644
index 0000000..56fb52d
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h
@@ -0,0 +1,386 @@
+// MESSAGE SENSOR_OFFSETS PACKING
+
+#define MAVLINK_MSG_ID_SENSOR_OFFSETS 150
+
+typedef struct __mavlink_sensor_offsets_t
+{
+ float mag_declination; ///< magnetic declination (radians)
+ int32_t raw_press; ///< raw pressure from barometer
+ int32_t raw_temp; ///< raw temperature from barometer
+ float gyro_cal_x; ///< gyro X calibration
+ float gyro_cal_y; ///< gyro Y calibration
+ float gyro_cal_z; ///< gyro Z calibration
+ float accel_cal_x; ///< accel X calibration
+ float accel_cal_y; ///< accel Y calibration
+ float accel_cal_z; ///< accel Z calibration
+ int16_t mag_ofs_x; ///< magnetometer X offset
+ int16_t mag_ofs_y; ///< magnetometer Y offset
+ int16_t mag_ofs_z; ///< magnetometer Z offset
+} mavlink_sensor_offsets_t;
+
+#define MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN 42
+#define MAVLINK_MSG_ID_150_LEN 42
+
+
+
+#define MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS { \
+ "SENSOR_OFFSETS", \
+ 12, \
+ { { "mag_declination", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sensor_offsets_t, mag_declination) }, \
+ { "raw_press", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_sensor_offsets_t, raw_press) }, \
+ { "raw_temp", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_sensor_offsets_t, raw_temp) }, \
+ { "gyro_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sensor_offsets_t, gyro_cal_x) }, \
+ { "gyro_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sensor_offsets_t, gyro_cal_y) }, \
+ { "gyro_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sensor_offsets_t, gyro_cal_z) }, \
+ { "accel_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_sensor_offsets_t, accel_cal_x) }, \
+ { "accel_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_sensor_offsets_t, accel_cal_y) }, \
+ { "accel_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_sensor_offsets_t, accel_cal_z) }, \
+ { "mag_ofs_x", NULL, MAVLINK_TYPE_INT16_T, 0, 36, offsetof(mavlink_sensor_offsets_t, mag_ofs_x) }, \
+ { "mag_ofs_y", NULL, MAVLINK_TYPE_INT16_T, 0, 38, offsetof(mavlink_sensor_offsets_t, mag_ofs_y) }, \
+ { "mag_ofs_z", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_sensor_offsets_t, mag_ofs_z) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a sensor_offsets 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 mag_ofs_x magnetometer X offset
+ * @param mag_ofs_y magnetometer Y offset
+ * @param mag_ofs_z magnetometer Z offset
+ * @param mag_declination magnetic declination (radians)
+ * @param raw_press raw pressure from barometer
+ * @param raw_temp raw temperature from barometer
+ * @param gyro_cal_x gyro X calibration
+ * @param gyro_cal_y gyro Y calibration
+ * @param gyro_cal_z gyro Z calibration
+ * @param accel_cal_x accel X calibration
+ * @param accel_cal_y accel Y calibration
+ * @param accel_cal_z accel Z calibration
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[42];
+ _mav_put_float(buf, 0, mag_declination);
+ _mav_put_int32_t(buf, 4, raw_press);
+ _mav_put_int32_t(buf, 8, raw_temp);
+ _mav_put_float(buf, 12, gyro_cal_x);
+ _mav_put_float(buf, 16, gyro_cal_y);
+ _mav_put_float(buf, 20, gyro_cal_z);
+ _mav_put_float(buf, 24, accel_cal_x);
+ _mav_put_float(buf, 28, accel_cal_y);
+ _mav_put_float(buf, 32, accel_cal_z);
+ _mav_put_int16_t(buf, 36, mag_ofs_x);
+ _mav_put_int16_t(buf, 38, mag_ofs_y);
+ _mav_put_int16_t(buf, 40, mag_ofs_z);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42);
+#else
+ mavlink_sensor_offsets_t packet;
+ packet.mag_declination = mag_declination;
+ packet.raw_press = raw_press;
+ packet.raw_temp = raw_temp;
+ packet.gyro_cal_x = gyro_cal_x;
+ packet.gyro_cal_y = gyro_cal_y;
+ packet.gyro_cal_z = gyro_cal_z;
+ packet.accel_cal_x = accel_cal_x;
+ packet.accel_cal_y = accel_cal_y;
+ packet.accel_cal_z = accel_cal_z;
+ packet.mag_ofs_x = mag_ofs_x;
+ packet.mag_ofs_y = mag_ofs_y;
+ packet.mag_ofs_z = mag_ofs_z;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
+ return mavlink_finalize_message(msg, system_id, component_id, 42, 134);
+}
+
+/**
+ * @brief Pack a sensor_offsets 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param mag_ofs_x magnetometer X offset
+ * @param mag_ofs_y magnetometer Y offset
+ * @param mag_ofs_z magnetometer Z offset
+ * @param mag_declination magnetic declination (radians)
+ * @param raw_press raw pressure from barometer
+ * @param raw_temp raw temperature from barometer
+ * @param gyro_cal_x gyro X calibration
+ * @param gyro_cal_y gyro Y calibration
+ * @param gyro_cal_z gyro Z calibration
+ * @param accel_cal_x accel X calibration
+ * @param accel_cal_y accel Y calibration
+ * @param accel_cal_z accel Z calibration
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ int16_t mag_ofs_x,int16_t mag_ofs_y,int16_t mag_ofs_z,float mag_declination,int32_t raw_press,int32_t raw_temp,float gyro_cal_x,float gyro_cal_y,float gyro_cal_z,float accel_cal_x,float accel_cal_y,float accel_cal_z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[42];
+ _mav_put_float(buf, 0, mag_declination);
+ _mav_put_int32_t(buf, 4, raw_press);
+ _mav_put_int32_t(buf, 8, raw_temp);
+ _mav_put_float(buf, 12, gyro_cal_x);
+ _mav_put_float(buf, 16, gyro_cal_y);
+ _mav_put_float(buf, 20, gyro_cal_z);
+ _mav_put_float(buf, 24, accel_cal_x);
+ _mav_put_float(buf, 28, accel_cal_y);
+ _mav_put_float(buf, 32, accel_cal_z);
+ _mav_put_int16_t(buf, 36, mag_ofs_x);
+ _mav_put_int16_t(buf, 38, mag_ofs_y);
+ _mav_put_int16_t(buf, 40, mag_ofs_z);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42);
+#else
+ mavlink_sensor_offsets_t packet;
+ packet.mag_declination = mag_declination;
+ packet.raw_press = raw_press;
+ packet.raw_temp = raw_temp;
+ packet.gyro_cal_x = gyro_cal_x;
+ packet.gyro_cal_y = gyro_cal_y;
+ packet.gyro_cal_z = gyro_cal_z;
+ packet.accel_cal_x = accel_cal_x;
+ packet.accel_cal_y = accel_cal_y;
+ packet.accel_cal_z = accel_cal_z;
+ packet.mag_ofs_x = mag_ofs_x;
+ packet.mag_ofs_y = mag_ofs_y;
+ packet.mag_ofs_z = mag_ofs_z;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 42, 134);
+}
+
+/**
+ * @brief Encode a sensor_offsets 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 sensor_offsets C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_sensor_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_offsets_t* sensor_offsets)
+{
+ return mavlink_msg_sensor_offsets_pack(system_id, component_id, msg, sensor_offsets->mag_ofs_x, sensor_offsets->mag_ofs_y, sensor_offsets->mag_ofs_z, sensor_offsets->mag_declination, sensor_offsets->raw_press, sensor_offsets->raw_temp, sensor_offsets->gyro_cal_x, sensor_offsets->gyro_cal_y, sensor_offsets->gyro_cal_z, sensor_offsets->accel_cal_x, sensor_offsets->accel_cal_y, sensor_offsets->accel_cal_z);
+}
+
+/**
+ * @brief Send a sensor_offsets message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param mag_ofs_x magnetometer X offset
+ * @param mag_ofs_y magnetometer Y offset
+ * @param mag_ofs_z magnetometer Z offset
+ * @param mag_declination magnetic declination (radians)
+ * @param raw_press raw pressure from barometer
+ * @param raw_temp raw temperature from barometer
+ * @param gyro_cal_x gyro X calibration
+ * @param gyro_cal_y gyro Y calibration
+ * @param gyro_cal_z gyro Z calibration
+ * @param accel_cal_x accel X calibration
+ * @param accel_cal_y accel Y calibration
+ * @param accel_cal_z accel Z calibration
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_sensor_offsets_send(mavlink_channel_t chan, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[42];
+ _mav_put_float(buf, 0, mag_declination);
+ _mav_put_int32_t(buf, 4, raw_press);
+ _mav_put_int32_t(buf, 8, raw_temp);
+ _mav_put_float(buf, 12, gyro_cal_x);
+ _mav_put_float(buf, 16, gyro_cal_y);
+ _mav_put_float(buf, 20, gyro_cal_z);
+ _mav_put_float(buf, 24, accel_cal_x);
+ _mav_put_float(buf, 28, accel_cal_y);
+ _mav_put_float(buf, 32, accel_cal_z);
+ _mav_put_int16_t(buf, 36, mag_ofs_x);
+ _mav_put_int16_t(buf, 38, mag_ofs_y);
+ _mav_put_int16_t(buf, 40, mag_ofs_z);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, buf, 42, 134);
+#else
+ mavlink_sensor_offsets_t packet;
+ packet.mag_declination = mag_declination;
+ packet.raw_press = raw_press;
+ packet.raw_temp = raw_temp;
+ packet.gyro_cal_x = gyro_cal_x;
+ packet.gyro_cal_y = gyro_cal_y;
+ packet.gyro_cal_z = gyro_cal_z;
+ packet.accel_cal_x = accel_cal_x;
+ packet.accel_cal_y = accel_cal_y;
+ packet.accel_cal_z = accel_cal_z;
+ packet.mag_ofs_x = mag_ofs_x;
+ packet.mag_ofs_y = mag_ofs_y;
+ packet.mag_ofs_z = mag_ofs_z;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)&packet, 42, 134);
+#endif
+}
+
+#endif
+
+// MESSAGE SENSOR_OFFSETS UNPACKING
+
+
+/**
+ * @brief Get field mag_ofs_x from sensor_offsets message
+ *
+ * @return magnetometer X offset
+ */
+static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 36);
+}
+
+/**
+ * @brief Get field mag_ofs_y from sensor_offsets message
+ *
+ * @return magnetometer Y offset
+ */
+static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 38);
+}
+
+/**
+ * @brief Get field mag_ofs_z from sensor_offsets message
+ *
+ * @return magnetometer Z offset
+ */
+static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 40);
+}
+
+/**
+ * @brief Get field mag_declination from sensor_offsets message
+ *
+ * @return magnetic declination (radians)
+ */
+static inline float mavlink_msg_sensor_offsets_get_mag_declination(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field raw_press from sensor_offsets message
+ *
+ * @return raw pressure from barometer
+ */
+static inline int32_t mavlink_msg_sensor_offsets_get_raw_press(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 4);
+}
+
+/**
+ * @brief Get field raw_temp from sensor_offsets message
+ *
+ * @return raw temperature from barometer
+ */
+static inline int32_t mavlink_msg_sensor_offsets_get_raw_temp(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 8);
+}
+
+/**
+ * @brief Get field gyro_cal_x from sensor_offsets message
+ *
+ * @return gyro X calibration
+ */
+static inline float mavlink_msg_sensor_offsets_get_gyro_cal_x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field gyro_cal_y from sensor_offsets message
+ *
+ * @return gyro Y calibration
+ */
+static inline float mavlink_msg_sensor_offsets_get_gyro_cal_y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field gyro_cal_z from sensor_offsets message
+ *
+ * @return gyro Z calibration
+ */
+static inline float mavlink_msg_sensor_offsets_get_gyro_cal_z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Get field accel_cal_x from sensor_offsets message
+ *
+ * @return accel X calibration
+ */
+static inline float mavlink_msg_sensor_offsets_get_accel_cal_x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 24);
+}
+
+/**
+ * @brief Get field accel_cal_y from sensor_offsets message
+ *
+ * @return accel Y calibration
+ */
+static inline float mavlink_msg_sensor_offsets_get_accel_cal_y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 28);
+}
+
+/**
+ * @brief Get field accel_cal_z from sensor_offsets message
+ *
+ * @return accel Z calibration
+ */
+static inline float mavlink_msg_sensor_offsets_get_accel_cal_z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 32);
+}
+
+/**
+ * @brief Decode a sensor_offsets message into a struct
+ *
+ * @param msg The message to decode
+ * @param sensor_offsets C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_sensor_offsets_decode(const mavlink_message_t* msg, mavlink_sensor_offsets_t* sensor_offsets)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ sensor_offsets->mag_declination = mavlink_msg_sensor_offsets_get_mag_declination(msg);
+ sensor_offsets->raw_press = mavlink_msg_sensor_offsets_get_raw_press(msg);
+ sensor_offsets->raw_temp = mavlink_msg_sensor_offsets_get_raw_temp(msg);
+ sensor_offsets->gyro_cal_x = mavlink_msg_sensor_offsets_get_gyro_cal_x(msg);
+ sensor_offsets->gyro_cal_y = mavlink_msg_sensor_offsets_get_gyro_cal_y(msg);
+ sensor_offsets->gyro_cal_z = mavlink_msg_sensor_offsets_get_gyro_cal_z(msg);
+ sensor_offsets->accel_cal_x = mavlink_msg_sensor_offsets_get_accel_cal_x(msg);
+ sensor_offsets->accel_cal_y = mavlink_msg_sensor_offsets_get_accel_cal_y(msg);
+ sensor_offsets->accel_cal_z = mavlink_msg_sensor_offsets_get_accel_cal_z(msg);
+ sensor_offsets->mag_ofs_x = mavlink_msg_sensor_offsets_get_mag_ofs_x(msg);
+ sensor_offsets->mag_ofs_y = mavlink_msg_sensor_offsets_get_mag_ofs_y(msg);
+ sensor_offsets->mag_ofs_z = mavlink_msg_sensor_offsets_get_mag_ofs_z(msg);
+#else
+ memcpy(sensor_offsets, _MAV_PAYLOAD(msg), 42);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h
new file mode 100644
index 0000000..4c13fd1
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h
@@ -0,0 +1,232 @@
+// MESSAGE SET_MAG_OFFSETS PACKING
+
+#define MAVLINK_MSG_ID_SET_MAG_OFFSETS 151
+
+typedef struct __mavlink_set_mag_offsets_t
+{
+ int16_t mag_ofs_x; ///< magnetometer X offset
+ int16_t mag_ofs_y; ///< magnetometer Y offset
+ int16_t mag_ofs_z; ///< magnetometer Z offset
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_set_mag_offsets_t;
+
+#define MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN 8
+#define MAVLINK_MSG_ID_151_LEN 8
+
+
+
+#define MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS { \
+ "SET_MAG_OFFSETS", \
+ 5, \
+ { { "mag_ofs_x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_set_mag_offsets_t, mag_ofs_x) }, \
+ { "mag_ofs_y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_set_mag_offsets_t, mag_ofs_y) }, \
+ { "mag_ofs_z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_set_mag_offsets_t, mag_ofs_z) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_set_mag_offsets_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_set_mag_offsets_t, target_component) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a set_mag_offsets 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_system System ID
+ * @param target_component Component ID
+ * @param mag_ofs_x magnetometer X offset
+ * @param mag_ofs_y magnetometer Y offset
+ * @param mag_ofs_z magnetometer Z offset
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[8];
+ _mav_put_int16_t(buf, 0, mag_ofs_x);
+ _mav_put_int16_t(buf, 2, mag_ofs_y);
+ _mav_put_int16_t(buf, 4, mag_ofs_z);
+ _mav_put_uint8_t(buf, 6, target_system);
+ _mav_put_uint8_t(buf, 7, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8);
+#else
+ mavlink_set_mag_offsets_t packet;
+ packet.mag_ofs_x = mag_ofs_x;
+ packet.mag_ofs_y = mag_ofs_y;
+ packet.mag_ofs_z = mag_ofs_z;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
+ return mavlink_finalize_message(msg, system_id, component_id, 8, 219);
+}
+
+/**
+ * @brief Pack a set_mag_offsets 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param mag_ofs_x magnetometer X offset
+ * @param mag_ofs_y magnetometer Y offset
+ * @param mag_ofs_z magnetometer Z offset
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_mag_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,int16_t mag_ofs_x,int16_t mag_ofs_y,int16_t mag_ofs_z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[8];
+ _mav_put_int16_t(buf, 0, mag_ofs_x);
+ _mav_put_int16_t(buf, 2, mag_ofs_y);
+ _mav_put_int16_t(buf, 4, mag_ofs_z);
+ _mav_put_uint8_t(buf, 6, target_system);
+ _mav_put_uint8_t(buf, 7, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8);
+#else
+ mavlink_set_mag_offsets_t packet;
+ packet.mag_ofs_x = mag_ofs_x;
+ packet.mag_ofs_y = mag_ofs_y;
+ packet.mag_ofs_z = mag_ofs_z;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8, 219);
+}
+
+/**
+ * @brief Encode a set_mag_offsets 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 set_mag_offsets C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_set_mag_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mag_offsets_t* set_mag_offsets)
+{
+ return mavlink_msg_set_mag_offsets_pack(system_id, component_id, msg, set_mag_offsets->target_system, set_mag_offsets->target_component, set_mag_offsets->mag_ofs_x, set_mag_offsets->mag_ofs_y, set_mag_offsets->mag_ofs_z);
+}
+
+/**
+ * @brief Send a set_mag_offsets message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param mag_ofs_x magnetometer X offset
+ * @param mag_ofs_y magnetometer Y offset
+ * @param mag_ofs_z magnetometer Z offset
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_set_mag_offsets_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[8];
+ _mav_put_int16_t(buf, 0, mag_ofs_x);
+ _mav_put_int16_t(buf, 2, mag_ofs_y);
+ _mav_put_int16_t(buf, 4, mag_ofs_z);
+ _mav_put_uint8_t(buf, 6, target_system);
+ _mav_put_uint8_t(buf, 7, target_component);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, buf, 8, 219);
+#else
+ mavlink_set_mag_offsets_t packet;
+ packet.mag_ofs_x = mag_ofs_x;
+ packet.mag_ofs_y = mag_ofs_y;
+ packet.mag_ofs_z = mag_ofs_z;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, (const char *)&packet, 8, 219);
+#endif
+}
+
+#endif
+
+// MESSAGE SET_MAG_OFFSETS UNPACKING
+
+
+/**
+ * @brief Get field target_system from set_mag_offsets message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_set_mag_offsets_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 6);
+}
+
+/**
+ * @brief Get field target_component from set_mag_offsets message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_set_mag_offsets_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 7);
+}
+
+/**
+ * @brief Get field mag_ofs_x from set_mag_offsets message
+ *
+ * @return magnetometer X offset
+ */
+static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 0);
+}
+
+/**
+ * @brief Get field mag_ofs_y from set_mag_offsets message
+ *
+ * @return magnetometer Y offset
+ */
+static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 2);
+}
+
+/**
+ * @brief Get field mag_ofs_z from set_mag_offsets message
+ *
+ * @return magnetometer Z offset
+ */
+static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 4);
+}
+
+/**
+ * @brief Decode a set_mag_offsets message into a struct
+ *
+ * @param msg The message to decode
+ * @param set_mag_offsets C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_set_mag_offsets_decode(const mavlink_message_t* msg, mavlink_set_mag_offsets_t* set_mag_offsets)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ set_mag_offsets->mag_ofs_x = mavlink_msg_set_mag_offsets_get_mag_ofs_x(msg);
+ set_mag_offsets->mag_ofs_y = mavlink_msg_set_mag_offsets_get_mag_ofs_y(msg);
+ set_mag_offsets->mag_ofs_z = mavlink_msg_set_mag_offsets_get_mag_ofs_z(msg);
+ set_mag_offsets->target_system = mavlink_msg_set_mag_offsets_get_target_system(msg);
+ set_mag_offsets->target_component = mavlink_msg_set_mag_offsets_get_target_component(msg);
+#else
+ memcpy(set_mag_offsets, _MAV_PAYLOAD(msg), 8);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_simstate.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_simstate.h
new file mode 100644
index 0000000..8ee447c
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_simstate.h
@@ -0,0 +1,364 @@
+// MESSAGE SIMSTATE PACKING
+
+#define MAVLINK_MSG_ID_SIMSTATE 164
+
+typedef struct __mavlink_simstate_t
+{
+ float roll; ///< Roll angle (rad)
+ float pitch; ///< Pitch angle (rad)
+ float yaw; ///< Yaw angle (rad)
+ float xacc; ///< X acceleration m/s/s
+ float yacc; ///< Y acceleration m/s/s
+ float zacc; ///< Z acceleration m/s/s
+ float xgyro; ///< Angular speed around X axis rad/s
+ float ygyro; ///< Angular speed around Y axis rad/s
+ float zgyro; ///< Angular speed around Z axis rad/s
+ float lat; ///< Latitude in degrees
+ float lng; ///< Longitude in degrees
+} mavlink_simstate_t;
+
+#define MAVLINK_MSG_ID_SIMSTATE_LEN 44
+#define MAVLINK_MSG_ID_164_LEN 44
+
+
+
+#define MAVLINK_MESSAGE_INFO_SIMSTATE { \
+ "SIMSTATE", \
+ 11, \
+ { { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_simstate_t, roll) }, \
+ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_simstate_t, pitch) }, \
+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_simstate_t, yaw) }, \
+ { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_simstate_t, xacc) }, \
+ { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_simstate_t, yacc) }, \
+ { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_simstate_t, zacc) }, \
+ { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_simstate_t, xgyro) }, \
+ { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_simstate_t, ygyro) }, \
+ { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_simstate_t, zgyro) }, \
+ { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_simstate_t, lat) }, \
+ { "lng", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_simstate_t, lng) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a simstate 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 roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param xacc X acceleration m/s/s
+ * @param yacc Y acceleration m/s/s
+ * @param zacc Z acceleration m/s/s
+ * @param xgyro Angular speed around X axis rad/s
+ * @param ygyro Angular speed around Y axis rad/s
+ * @param zgyro Angular speed around Z axis rad/s
+ * @param lat Latitude in degrees
+ * @param lng Longitude in degrees
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lng)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[44];
+ _mav_put_float(buf, 0, roll);
+ _mav_put_float(buf, 4, pitch);
+ _mav_put_float(buf, 8, yaw);
+ _mav_put_float(buf, 12, xacc);
+ _mav_put_float(buf, 16, yacc);
+ _mav_put_float(buf, 20, zacc);
+ _mav_put_float(buf, 24, xgyro);
+ _mav_put_float(buf, 28, ygyro);
+ _mav_put_float(buf, 32, zgyro);
+ _mav_put_float(buf, 36, lat);
+ _mav_put_float(buf, 40, lng);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 44);
+#else
+ mavlink_simstate_t packet;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.xacc = xacc;
+ packet.yacc = yacc;
+ packet.zacc = zacc;
+ packet.xgyro = xgyro;
+ packet.ygyro = ygyro;
+ packet.zgyro = zgyro;
+ packet.lat = lat;
+ packet.lng = lng;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 44);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
+ return mavlink_finalize_message(msg, system_id, component_id, 44, 111);
+}
+
+/**
+ * @brief Pack a simstate 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param xacc X acceleration m/s/s
+ * @param yacc Y acceleration m/s/s
+ * @param zacc Z acceleration m/s/s
+ * @param xgyro Angular speed around X axis rad/s
+ * @param ygyro Angular speed around Y axis rad/s
+ * @param zgyro Angular speed around Z axis rad/s
+ * @param lat Latitude in degrees
+ * @param lng Longitude in degrees
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float lat,float lng)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[44];
+ _mav_put_float(buf, 0, roll);
+ _mav_put_float(buf, 4, pitch);
+ _mav_put_float(buf, 8, yaw);
+ _mav_put_float(buf, 12, xacc);
+ _mav_put_float(buf, 16, yacc);
+ _mav_put_float(buf, 20, zacc);
+ _mav_put_float(buf, 24, xgyro);
+ _mav_put_float(buf, 28, ygyro);
+ _mav_put_float(buf, 32, zgyro);
+ _mav_put_float(buf, 36, lat);
+ _mav_put_float(buf, 40, lng);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 44);
+#else
+ mavlink_simstate_t packet;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.xacc = xacc;
+ packet.yacc = yacc;
+ packet.zacc = zacc;
+ packet.xgyro = xgyro;
+ packet.ygyro = ygyro;
+ packet.zgyro = zgyro;
+ packet.lat = lat;
+ packet.lng = lng;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 44);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 44, 111);
+}
+
+/**
+ * @brief Encode a simstate 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 simstate C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_simstate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_simstate_t* simstate)
+{
+ return mavlink_msg_simstate_pack(system_id, component_id, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro, simstate->lat, simstate->lng);
+}
+
+/**
+ * @brief Send a simstate message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param xacc X acceleration m/s/s
+ * @param yacc Y acceleration m/s/s
+ * @param zacc Z acceleration m/s/s
+ * @param xgyro Angular speed around X axis rad/s
+ * @param ygyro Angular speed around Y axis rad/s
+ * @param zgyro Angular speed around Z axis rad/s
+ * @param lat Latitude in degrees
+ * @param lng Longitude in degrees
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lng)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[44];
+ _mav_put_float(buf, 0, roll);
+ _mav_put_float(buf, 4, pitch);
+ _mav_put_float(buf, 8, yaw);
+ _mav_put_float(buf, 12, xacc);
+ _mav_put_float(buf, 16, yacc);
+ _mav_put_float(buf, 20, zacc);
+ _mav_put_float(buf, 24, xgyro);
+ _mav_put_float(buf, 28, ygyro);
+ _mav_put_float(buf, 32, zgyro);
+ _mav_put_float(buf, 36, lat);
+ _mav_put_float(buf, 40, lng);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, 44, 111);
+#else
+ mavlink_simstate_t packet;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.xacc = xacc;
+ packet.yacc = yacc;
+ packet.zacc = zacc;
+ packet.xgyro = xgyro;
+ packet.ygyro = ygyro;
+ packet.zgyro = zgyro;
+ packet.lat = lat;
+ packet.lng = lng;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)&packet, 44, 111);
+#endif
+}
+
+#endif
+
+// MESSAGE SIMSTATE UNPACKING
+
+
+/**
+ * @brief Get field roll from simstate message
+ *
+ * @return Roll angle (rad)
+ */
+static inline float mavlink_msg_simstate_get_roll(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field pitch from simstate message
+ *
+ * @return Pitch angle (rad)
+ */
+static inline float mavlink_msg_simstate_get_pitch(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field yaw from simstate message
+ *
+ * @return Yaw angle (rad)
+ */
+static inline float mavlink_msg_simstate_get_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field xacc from simstate message
+ *
+ * @return X acceleration m/s/s
+ */
+static inline float mavlink_msg_simstate_get_xacc(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field yacc from simstate message
+ *
+ * @return Y acceleration m/s/s
+ */
+static inline float mavlink_msg_simstate_get_yacc(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field zacc from simstate message
+ *
+ * @return Z acceleration m/s/s
+ */
+static inline float mavlink_msg_simstate_get_zacc(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Get field xgyro from simstate message
+ *
+ * @return Angular speed around X axis rad/s
+ */
+static inline float mavlink_msg_simstate_get_xgyro(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 24);
+}
+
+/**
+ * @brief Get field ygyro from simstate message
+ *
+ * @return Angular speed around Y axis rad/s
+ */
+static inline float mavlink_msg_simstate_get_ygyro(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 28);
+}
+
+/**
+ * @brief Get field zgyro from simstate message
+ *
+ * @return Angular speed around Z axis rad/s
+ */
+static inline float mavlink_msg_simstate_get_zgyro(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 32);
+}
+
+/**
+ * @brief Get field lat from simstate message
+ *
+ * @return Latitude in degrees
+ */
+static inline float mavlink_msg_simstate_get_lat(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 36);
+}
+
+/**
+ * @brief Get field lng from simstate message
+ *
+ * @return Longitude in degrees
+ */
+static inline float mavlink_msg_simstate_get_lng(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 40);
+}
+
+/**
+ * @brief Decode a simstate message into a struct
+ *
+ * @param msg The message to decode
+ * @param simstate C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_simstate_decode(const mavlink_message_t* msg, mavlink_simstate_t* simstate)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ simstate->roll = mavlink_msg_simstate_get_roll(msg);
+ simstate->pitch = mavlink_msg_simstate_get_pitch(msg);
+ simstate->yaw = mavlink_msg_simstate_get_yaw(msg);
+ simstate->xacc = mavlink_msg_simstate_get_xacc(msg);
+ simstate->yacc = mavlink_msg_simstate_get_yacc(msg);
+ simstate->zacc = mavlink_msg_simstate_get_zacc(msg);
+ simstate->xgyro = mavlink_msg_simstate_get_xgyro(msg);
+ simstate->ygyro = mavlink_msg_simstate_get_ygyro(msg);
+ simstate->zgyro = mavlink_msg_simstate_get_zgyro(msg);
+ simstate->lat = mavlink_msg_simstate_get_lat(msg);
+ simstate->lng = mavlink_msg_simstate_get_lng(msg);
+#else
+ memcpy(simstate, _MAV_PAYLOAD(msg), 44);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h
new file mode 100644
index 0000000..e0810a9
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h
@@ -0,0 +1,188 @@
+// MESSAGE WIND PACKING
+
+#define MAVLINK_MSG_ID_WIND 168
+
+typedef struct __mavlink_wind_t
+{
+ float direction; ///< wind direction (degrees)
+ float speed; ///< wind speed in ground plane (m/s)
+ float speed_z; ///< vertical wind speed (m/s)
+} mavlink_wind_t;
+
+#define MAVLINK_MSG_ID_WIND_LEN 12
+#define MAVLINK_MSG_ID_168_LEN 12
+
+
+
+#define MAVLINK_MESSAGE_INFO_WIND { \
+ "WIND", \
+ 3, \
+ { { "direction", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_wind_t, direction) }, \
+ { "speed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_wind_t, speed) }, \
+ { "speed_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_wind_t, speed_z) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a wind 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 direction wind direction (degrees)
+ * @param speed wind speed in ground plane (m/s)
+ * @param speed_z vertical wind speed (m/s)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_wind_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ float direction, float speed, float speed_z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[12];
+ _mav_put_float(buf, 0, direction);
+ _mav_put_float(buf, 4, speed);
+ _mav_put_float(buf, 8, speed_z);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
+#else
+ mavlink_wind_t packet;
+ packet.direction = direction;
+ packet.speed = speed;
+ packet.speed_z = speed_z;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_WIND;
+ return mavlink_finalize_message(msg, system_id, component_id, 12, 1);
+}
+
+/**
+ * @brief Pack a wind 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param direction wind direction (degrees)
+ * @param speed wind speed in ground plane (m/s)
+ * @param speed_z vertical wind speed (m/s)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_wind_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ float direction,float speed,float speed_z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[12];
+ _mav_put_float(buf, 0, direction);
+ _mav_put_float(buf, 4, speed);
+ _mav_put_float(buf, 8, speed_z);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
+#else
+ mavlink_wind_t packet;
+ packet.direction = direction;
+ packet.speed = speed;
+ packet.speed_z = speed_z;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_WIND;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 1);
+}
+
+/**
+ * @brief Encode a wind 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 wind C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_wind_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_wind_t* wind)
+{
+ return mavlink_msg_wind_pack(system_id, component_id, msg, wind->direction, wind->speed, wind->speed_z);
+}
+
+/**
+ * @brief Send a wind message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param direction wind direction (degrees)
+ * @param speed wind speed in ground plane (m/s)
+ * @param speed_z vertical wind speed (m/s)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_wind_send(mavlink_channel_t chan, float direction, float speed, float speed_z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[12];
+ _mav_put_float(buf, 0, direction);
+ _mav_put_float(buf, 4, speed);
+ _mav_put_float(buf, 8, speed_z);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, buf, 12, 1);
+#else
+ mavlink_wind_t packet;
+ packet.direction = direction;
+ packet.speed = speed;
+ packet.speed_z = speed_z;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, (const char *)&packet, 12, 1);
+#endif
+}
+
+#endif
+
+// MESSAGE WIND UNPACKING
+
+
+/**
+ * @brief Get field direction from wind message
+ *
+ * @return wind direction (degrees)
+ */
+static inline float mavlink_msg_wind_get_direction(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field speed from wind message
+ *
+ * @return wind speed in ground plane (m/s)
+ */
+static inline float mavlink_msg_wind_get_speed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field speed_z from wind message
+ *
+ * @return vertical wind speed (m/s)
+ */
+static inline float mavlink_msg_wind_get_speed_z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Decode a wind message into a struct
+ *
+ * @param msg The message to decode
+ * @param wind C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_wind_decode(const mavlink_message_t* msg, mavlink_wind_t* wind)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ wind->direction = mavlink_msg_wind_get_direction(msg);
+ wind->speed = mavlink_msg_wind_get_speed(msg);
+ wind->speed_z = mavlink_msg_wind_get_speed_z(msg);
+#else
+ memcpy(wind, _MAV_PAYLOAD(msg), 12);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h
new file mode 100644
index 0000000..7b7cf43
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h
@@ -0,0 +1,1020 @@
+/** @file
+ * @brief MAVLink comm protocol testsuite generated from ardupilotmega.xml
+ * @see http://qgroundcontrol.org/mavlink/
+ */
+#ifndef ARDUPILOTMEGA_TESTSUITE_H
+#define ARDUPILOTMEGA_TESTSUITE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef MAVLINK_TEST_ALL
+#define MAVLINK_TEST_ALL
+static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
+static void mavlink_test_ardupilotmega(uint8_t, uint8_t, mavlink_message_t *last_msg);
+
+static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_test_common(system_id, component_id, last_msg);
+ mavlink_test_ardupilotmega(system_id, component_id, last_msg);
+}
+#endif
+
+#include "../common/testsuite.h"
+
+
+static void mavlink_test_sensor_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_sensor_offsets_t packet_in = {
+ 17.0,
+ 963497672,
+ 963497880,
+ 101.0,
+ 129.0,
+ 157.0,
+ 185.0,
+ 213.0,
+ 241.0,
+ 19107,
+ 19211,
+ 19315,
+ };
+ mavlink_sensor_offsets_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.mag_declination = packet_in.mag_declination;
+ packet1.raw_press = packet_in.raw_press;
+ packet1.raw_temp = packet_in.raw_temp;
+ packet1.gyro_cal_x = packet_in.gyro_cal_x;
+ packet1.gyro_cal_y = packet_in.gyro_cal_y;
+ packet1.gyro_cal_z = packet_in.gyro_cal_z;
+ packet1.accel_cal_x = packet_in.accel_cal_x;
+ packet1.accel_cal_y = packet_in.accel_cal_y;
+ packet1.accel_cal_z = packet_in.accel_cal_z;
+ packet1.mag_ofs_x = packet_in.mag_ofs_x;
+ packet1.mag_ofs_y = packet_in.mag_ofs_y;
+ packet1.mag_ofs_z = packet_in.mag_ofs_z;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_sensor_offsets_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_sensor_offsets_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_sensor_offsets_pack(system_id, component_id, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
+ mavlink_msg_sensor_offsets_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_sensor_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
+ mavlink_msg_sensor_offsets_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_sensor_offsets_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_sensor_offsets_send(MAVLINK_COMM_1 , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
+ mavlink_msg_sensor_offsets_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_set_mag_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_set_mag_offsets_t packet_in = {
+ 17235,
+ 17339,
+ 17443,
+ 151,
+ 218,
+ };
+ mavlink_set_mag_offsets_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.mag_ofs_x = packet_in.mag_ofs_x;
+ packet1.mag_ofs_y = packet_in.mag_ofs_y;
+ packet1.mag_ofs_z = packet_in.mag_ofs_z;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_mag_offsets_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_mag_offsets_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
+ mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_mag_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
+ mavlink_msg_set_mag_offsets_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_set_mag_offsets_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_mag_offsets_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
+ mavlink_msg_set_mag_offsets_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_meminfo(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_meminfo_t packet_in = {
+ 17235,
+ 17339,
+ };
+ mavlink_meminfo_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.brkval = packet_in.brkval;
+ packet1.freemem = packet_in.freemem;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_meminfo_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_meminfo_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_meminfo_pack(system_id, component_id, &msg , packet1.brkval , packet1.freemem );
+ mavlink_msg_meminfo_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_meminfo_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.brkval , packet1.freemem );
+ mavlink_msg_meminfo_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_meminfo_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_meminfo_send(MAVLINK_COMM_1 , packet1.brkval , packet1.freemem );
+ mavlink_msg_meminfo_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_ap_adc(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_ap_adc_t packet_in = {
+ 17235,
+ 17339,
+ 17443,
+ 17547,
+ 17651,
+ 17755,
+ };
+ mavlink_ap_adc_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.adc1 = packet_in.adc1;
+ packet1.adc2 = packet_in.adc2;
+ packet1.adc3 = packet_in.adc3;
+ packet1.adc4 = packet_in.adc4;
+ packet1.adc5 = packet_in.adc5;
+ packet1.adc6 = packet_in.adc6;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_ap_adc_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_ap_adc_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_ap_adc_pack(system_id, component_id, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
+ mavlink_msg_ap_adc_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_ap_adc_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
+ mavlink_msg_ap_adc_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_ap_adc_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_ap_adc_send(MAVLINK_COMM_1 , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
+ mavlink_msg_ap_adc_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_digicam_configure(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_digicam_configure_t packet_in = {
+ 17.0,
+ 17443,
+ 151,
+ 218,
+ 29,
+ 96,
+ 163,
+ 230,
+ 41,
+ 108,
+ 175,
+ };
+ mavlink_digicam_configure_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.extra_value = packet_in.extra_value;
+ packet1.shutter_speed = packet_in.shutter_speed;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+ packet1.mode = packet_in.mode;
+ packet1.aperture = packet_in.aperture;
+ packet1.iso = packet_in.iso;
+ packet1.exposure_type = packet_in.exposure_type;
+ packet1.command_id = packet_in.command_id;
+ packet1.engine_cut_off = packet_in.engine_cut_off;
+ packet1.extra_param = packet_in.extra_param;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_digicam_configure_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_digicam_configure_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_digicam_configure_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value );
+ mavlink_msg_digicam_configure_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_digicam_configure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value );
+ mavlink_msg_digicam_configure_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_digicam_configure_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_digicam_configure_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value );
+ mavlink_msg_digicam_configure_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_digicam_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_digicam_control_t packet_in = {
+ 17.0,
+ 17,
+ 84,
+ 151,
+ 218,
+ 29,
+ 96,
+ 163,
+ 230,
+ 41,
+ };
+ mavlink_digicam_control_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.extra_value = packet_in.extra_value;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+ packet1.session = packet_in.session;
+ packet1.zoom_pos = packet_in.zoom_pos;
+ packet1.zoom_step = packet_in.zoom_step;
+ packet1.focus_lock = packet_in.focus_lock;
+ packet1.shot = packet_in.shot;
+ packet1.command_id = packet_in.command_id;
+ packet1.extra_param = packet_in.extra_param;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_digicam_control_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_digicam_control_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_digicam_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value );
+ mavlink_msg_digicam_control_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_digicam_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value );
+ mavlink_msg_digicam_control_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_digicam_control_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_digicam_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value );
+ mavlink_msg_digicam_control_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_mount_configure(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_mount_configure_t packet_in = {
+ 5,
+ 72,
+ 139,
+ 206,
+ 17,
+ 84,
+ };
+ mavlink_mount_configure_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+ packet1.mount_mode = packet_in.mount_mode;
+ packet1.stab_roll = packet_in.stab_roll;
+ packet1.stab_pitch = packet_in.stab_pitch;
+ packet1.stab_yaw = packet_in.stab_yaw;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mount_configure_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_mount_configure_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mount_configure_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw );
+ mavlink_msg_mount_configure_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mount_configure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw );
+ mavlink_msg_mount_configure_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_mount_configure_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mount_configure_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw );
+ mavlink_msg_mount_configure_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_mount_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_mount_control_t packet_in = {
+ 963497464,
+ 963497672,
+ 963497880,
+ 41,
+ 108,
+ 175,
+ };
+ mavlink_mount_control_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.input_a = packet_in.input_a;
+ packet1.input_b = packet_in.input_b;
+ packet1.input_c = packet_in.input_c;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+ packet1.save_position = packet_in.save_position;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mount_control_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_mount_control_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mount_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position );
+ mavlink_msg_mount_control_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mount_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position );
+ mavlink_msg_mount_control_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_mount_control_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mount_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position );
+ mavlink_msg_mount_control_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_mount_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_mount_status_t packet_in = {
+ 963497464,
+ 963497672,
+ 963497880,
+ 41,
+ 108,
+ };
+ mavlink_mount_status_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.pointing_a = packet_in.pointing_a;
+ packet1.pointing_b = packet_in.pointing_b;
+ packet1.pointing_c = packet_in.pointing_c;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mount_status_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_mount_status_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mount_status_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c );
+ mavlink_msg_mount_status_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mount_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c );
+ mavlink_msg_mount_status_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_mount_status_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mount_status_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c );
+ mavlink_msg_mount_status_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_fence_point(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_fence_point_t packet_in = {
+ 17.0,
+ 45.0,
+ 29,
+ 96,
+ 163,
+ 230,
+ };
+ mavlink_fence_point_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.lat = packet_in.lat;
+ packet1.lng = packet_in.lng;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+ packet1.idx = packet_in.idx;
+ packet1.count = packet_in.count;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_fence_point_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_fence_point_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_fence_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng );
+ mavlink_msg_fence_point_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_fence_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng );
+ mavlink_msg_fence_point_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_fence_point_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_fence_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng );
+ mavlink_msg_fence_point_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_fence_fetch_point(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_fence_fetch_point_t packet_in = {
+ 5,
+ 72,
+ 139,
+ };
+ mavlink_fence_fetch_point_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+ packet1.idx = packet_in.idx;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_fence_fetch_point_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_fence_fetch_point_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_fence_fetch_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx );
+ mavlink_msg_fence_fetch_point_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_fence_fetch_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx );
+ mavlink_msg_fence_fetch_point_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_fence_fetch_point_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_fence_fetch_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx );
+ mavlink_msg_fence_fetch_point_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_fence_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_fence_status_t packet_in = {
+ 963497464,
+ 17443,
+ 151,
+ 218,
+ };
+ mavlink_fence_status_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.breach_time = packet_in.breach_time;
+ packet1.breach_count = packet_in.breach_count;
+ packet1.breach_status = packet_in.breach_status;
+ packet1.breach_type = packet_in.breach_type;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_fence_status_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_fence_status_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_fence_status_pack(system_id, component_id, &msg , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time );
+ mavlink_msg_fence_status_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_fence_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time );
+ mavlink_msg_fence_status_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_fence_status_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_fence_status_send(MAVLINK_COMM_1 , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time );
+ mavlink_msg_fence_status_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_ahrs(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_ahrs_t packet_in = {
+ 17.0,
+ 45.0,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 185.0,
+ };
+ mavlink_ahrs_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.omegaIx = packet_in.omegaIx;
+ packet1.omegaIy = packet_in.omegaIy;
+ packet1.omegaIz = packet_in.omegaIz;
+ packet1.accel_weight = packet_in.accel_weight;
+ packet1.renorm_val = packet_in.renorm_val;
+ packet1.error_rp = packet_in.error_rp;
+ packet1.error_yaw = packet_in.error_yaw;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_ahrs_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_ahrs_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_ahrs_pack(system_id, component_id, &msg , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw );
+ mavlink_msg_ahrs_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_ahrs_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw );
+ mavlink_msg_ahrs_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_ahrs_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_ahrs_send(MAVLINK_COMM_1 , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw );
+ mavlink_msg_ahrs_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_simstate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_simstate_t packet_in = {
+ 17.0,
+ 45.0,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 185.0,
+ 213.0,
+ 241.0,
+ 269.0,
+ 297.0,
+ };
+ mavlink_simstate_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.roll = packet_in.roll;
+ packet1.pitch = packet_in.pitch;
+ packet1.yaw = packet_in.yaw;
+ packet1.xacc = packet_in.xacc;
+ packet1.yacc = packet_in.yacc;
+ packet1.zacc = packet_in.zacc;
+ packet1.xgyro = packet_in.xgyro;
+ packet1.ygyro = packet_in.ygyro;
+ packet1.zgyro = packet_in.zgyro;
+ packet1.lat = packet_in.lat;
+ packet1.lng = packet_in.lng;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_simstate_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_simstate_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_simstate_pack(system_id, component_id, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lng );
+ mavlink_msg_simstate_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_simstate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lng );
+ mavlink_msg_simstate_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_simstate_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_simstate_send(MAVLINK_COMM_1 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lng );
+ mavlink_msg_simstate_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_hwstatus(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_hwstatus_t packet_in = {
+ 17235,
+ 139,
+ };
+ mavlink_hwstatus_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.Vcc = packet_in.Vcc;
+ packet1.I2Cerr = packet_in.I2Cerr;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_hwstatus_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_hwstatus_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_hwstatus_pack(system_id, component_id, &msg , packet1.Vcc , packet1.I2Cerr );
+ mavlink_msg_hwstatus_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_hwstatus_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.Vcc , packet1.I2Cerr );
+ mavlink_msg_hwstatus_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_hwstatus_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_hwstatus_send(MAVLINK_COMM_1 , packet1.Vcc , packet1.I2Cerr );
+ mavlink_msg_hwstatus_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_radio(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_radio_t packet_in = {
+ 17235,
+ 17339,
+ 17,
+ 84,
+ 151,
+ 218,
+ 29,
+ };
+ mavlink_radio_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.rxerrors = packet_in.rxerrors;
+ packet1.fixed = packet_in.fixed;
+ packet1.rssi = packet_in.rssi;
+ packet1.remrssi = packet_in.remrssi;
+ packet1.txbuf = packet_in.txbuf;
+ packet1.noise = packet_in.noise;
+ packet1.remnoise = packet_in.remnoise;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_radio_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_radio_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_radio_pack(system_id, component_id, &msg , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed );
+ mavlink_msg_radio_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_radio_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed );
+ mavlink_msg_radio_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_radio_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_radio_send(MAVLINK_COMM_1 , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed );
+ mavlink_msg_radio_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_limits_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_limits_status_t packet_in = {
+ 963497464,
+ 963497672,
+ 963497880,
+ 963498088,
+ 18067,
+ 187,
+ 254,
+ 65,
+ 132,
+ };
+ mavlink_limits_status_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.last_trigger = packet_in.last_trigger;
+ packet1.last_action = packet_in.last_action;
+ packet1.last_recovery = packet_in.last_recovery;
+ packet1.last_clear = packet_in.last_clear;
+ packet1.breach_count = packet_in.breach_count;
+ packet1.limits_state = packet_in.limits_state;
+ packet1.mods_enabled = packet_in.mods_enabled;
+ packet1.mods_required = packet_in.mods_required;
+ packet1.mods_triggered = packet_in.mods_triggered;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_limits_status_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_limits_status_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_limits_status_pack(system_id, component_id, &msg , packet1.limits_state , packet1.last_trigger , packet1.last_action , packet1.last_recovery , packet1.last_clear , packet1.breach_count , packet1.mods_enabled , packet1.mods_required , packet1.mods_triggered );
+ mavlink_msg_limits_status_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_limits_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.limits_state , packet1.last_trigger , packet1.last_action , packet1.last_recovery , packet1.last_clear , packet1.breach_count , packet1.mods_enabled , packet1.mods_required , packet1.mods_triggered );
+ mavlink_msg_limits_status_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_limits_status_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_limits_status_send(MAVLINK_COMM_1 , packet1.limits_state , packet1.last_trigger , packet1.last_action , packet1.last_recovery , packet1.last_clear , packet1.breach_count , packet1.mods_enabled , packet1.mods_required , packet1.mods_triggered );
+ mavlink_msg_limits_status_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_wind(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_wind_t packet_in = {
+ 17.0,
+ 45.0,
+ 73.0,
+ };
+ mavlink_wind_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.direction = packet_in.direction;
+ packet1.speed = packet_in.speed;
+ packet1.speed_z = packet_in.speed_z;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_wind_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_wind_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_wind_pack(system_id, component_id, &msg , packet1.direction , packet1.speed , packet1.speed_z );
+ mavlink_msg_wind_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_wind_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.direction , packet1.speed , packet1.speed_z );
+ mavlink_msg_wind_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_wind_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_wind_send(MAVLINK_COMM_1 , packet1.direction , packet1.speed , packet1.speed_z );
+ mavlink_msg_wind_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_test_sensor_offsets(system_id, component_id, last_msg);
+ mavlink_test_set_mag_offsets(system_id, component_id, last_msg);
+ mavlink_test_meminfo(system_id, component_id, last_msg);
+ mavlink_test_ap_adc(system_id, component_id, last_msg);
+ mavlink_test_digicam_configure(system_id, component_id, last_msg);
+ mavlink_test_digicam_control(system_id, component_id, last_msg);
+ mavlink_test_mount_configure(system_id, component_id, last_msg);
+ mavlink_test_mount_control(system_id, component_id, last_msg);
+ mavlink_test_mount_status(system_id, component_id, last_msg);
+ mavlink_test_fence_point(system_id, component_id, last_msg);
+ mavlink_test_fence_fetch_point(system_id, component_id, last_msg);
+ mavlink_test_fence_status(system_id, component_id, last_msg);
+ mavlink_test_ahrs(system_id, component_id, last_msg);
+ mavlink_test_simstate(system_id, component_id, last_msg);
+ mavlink_test_hwstatus(system_id, component_id, last_msg);
+ mavlink_test_radio(system_id, component_id, last_msg);
+ mavlink_test_limits_status(system_id, component_id, last_msg);
+ mavlink_test_wind(system_id, component_id, last_msg);
+}
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+#endif // ARDUPILOTMEGA_TESTSUITE_H
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
new file mode 100644
index 0000000..bd69b77
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
@@ -0,0 +1,12 @@
+/** @file
+ * @brief MAVLink comm protocol built from ardupilotmega.xml
+ * @see http://pixhawk.ethz.ch/software/mavlink
+ */
+#ifndef MAVLINK_VERSION_H
+#define MAVLINK_VERSION_H
+
+#define MAVLINK_BUILD_DATE "Sat Aug 11 14:26:42 2012"
+#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
+
+#endif // MAVLINK_VERSION_H
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/checksum.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/checksum.h
new file mode 100644
index 0000000..4f4cce0
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/checksum.h
@@ -0,0 +1,89 @@
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef _CHECKSUM_H_
+#define _CHECKSUM_H_
+
+
+/**
+ *
+ * CALCULATE THE CHECKSUM
+ *
+ */
+
+#define X25_INIT_CRC 0xffff
+#define X25_VALIDATE_CRC 0xf0b8
+
+/**
+ * @brief Accumulate the X.25 CRC by adding one char at a time.
+ *
+ * The checksum function adds the hash of one char at a time to the
+ * 16 bit checksum (uint16_t).
+ *
+ * @param data new char to hash
+ * @param crcAccum the already accumulated checksum
+ **/
+static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
+{
+ /*Accumulate one byte of data into the CRC*/
+ uint8_t tmp;
+
+ tmp = data ^ (uint8_t)(*crcAccum &0xff);
+ tmp ^= (tmp<<4);
+ *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
+}
+
+/**
+ * @brief Initiliaze the buffer for the X.25 CRC
+ *
+ * @param crcAccum the 16 bit X.25 CRC
+ */
+static inline void crc_init(uint16_t* crcAccum)
+{
+ *crcAccum = X25_INIT_CRC;
+}
+
+
+/**
+ * @brief Calculates the X.25 checksum on a byte buffer
+ *
+ * @param pBuffer buffer containing the byte array to hash
+ * @param length length of the byte array
+ * @return the checksum over the buffer bytes
+ **/
+static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
+{
+ uint16_t crcTmp;
+ crc_init(&crcTmp);
+ while (length--) {
+ crc_accumulate(*pBuffer++, &crcTmp);
+ }
+ return crcTmp;
+}
+
+/**
+ * @brief Accumulate the X.25 CRC by adding an array of bytes
+ *
+ * The checksum function adds the hash of one char at a time to the
+ * 16 bit checksum (uint16_t).
+ *
+ * @param data new bytes to hash
+ * @param crcAccum the already accumulated checksum
+ **/
+static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
+{
+ const uint8_t *p = (const uint8_t *)pBuffer;
+ while (length--) {
+ crc_accumulate(*p++, crcAccum);
+ }
+}
+
+
+
+
+#endif /* _CHECKSUM_H_ */
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/common.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/common.h
new file mode 100644
index 0000000..c0b0ac0
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/common.h
@@ -0,0 +1,436 @@
+/** @file
+ * @brief MAVLink comm protocol generated from common.xml
+ * @see http://qgroundcontrol.org/mavlink/
+ */
+#ifndef COMMON_H
+#define COMMON_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+
+// MESSAGE LENGTHS AND CRCS
+
+#ifndef MAVLINK_MESSAGE_LENGTHS
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 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, 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, 36, 30, 18, 18, 51, 9, 0}
+#endif
+
+#ifndef MAVLINK_MESSAGE_CRCS
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 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, 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, 204, 49, 170, 44, 83, 46, 0}
+#endif
+
+#ifndef MAVLINK_MESSAGE_INFO
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"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}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"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}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"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}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {"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}}}, {"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}}}, {"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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{"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}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
+#endif
+
+#include "../protocol.h"
+
+#define MAVLINK_ENABLED_COMMON
+
+// ENUM DEFINITIONS
+
+
+/** @brief Micro air vehicle / autopilot classes. This identifies the individual model. */
+#ifndef HAVE_ENUM_MAV_AUTOPILOT
+#define HAVE_ENUM_MAV_AUTOPILOT
+enum MAV_AUTOPILOT
+{
+ MAV_AUTOPILOT_GENERIC=0, /* Generic autopilot, full support for everything | */
+ MAV_AUTOPILOT_PIXHAWK=1, /* PIXHAWK autopilot, http://pixhawk.ethz.ch | */
+ MAV_AUTOPILOT_SLUGS=2, /* SLUGS autopilot, http://slugsuav.soe.ucsc.edu | */
+ MAV_AUTOPILOT_ARDUPILOTMEGA=3, /* ArduPilotMega / ArduCopter, http://diydrones.com | */
+ MAV_AUTOPILOT_OPENPILOT=4, /* OpenPilot, http://openpilot.org | */
+ MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY=5, /* Generic autopilot only supporting simple waypoints | */
+ MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY=6, /* Generic autopilot supporting waypoints and other simple navigation commands | */
+ MAV_AUTOPILOT_GENERIC_MISSION_FULL=7, /* Generic autopilot supporting the full mission command set | */
+ MAV_AUTOPILOT_INVALID=8, /* No valid autopilot, e.g. a GCS or other MAVLink component | */
+ MAV_AUTOPILOT_PPZ=9, /* PPZ UAV - http://nongnu.org/paparazzi | */
+ MAV_AUTOPILOT_UDB=10, /* UAV Dev Board | */
+ MAV_AUTOPILOT_FP=11, /* FlexiPilot | */
+ MAV_AUTOPILOT_ENUM_END=12, /* | */
+};
+#endif
+
+/** @brief */
+#ifndef HAVE_ENUM_MAV_TYPE
+#define HAVE_ENUM_MAV_TYPE
+enum MAV_TYPE
+{
+ MAV_TYPE_GENERIC=0, /* Generic micro air vehicle. | */
+ MAV_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
+ MAV_TYPE_QUADROTOR=2, /* Quadrotor | */
+ MAV_TYPE_COAXIAL=3, /* Coaxial helicopter | */
+ MAV_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */
+ MAV_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */
+ MAV_TYPE_GCS=6, /* Operator control unit / ground control station | */
+ MAV_TYPE_AIRSHIP=7, /* Airship, controlled | */
+ MAV_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */
+ MAV_TYPE_ROCKET=9, /* Rocket | */
+ MAV_TYPE_GROUND_ROVER=10, /* Ground rover | */
+ MAV_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */
+ MAV_TYPE_SUBMARINE=12, /* Submarine | */
+ MAV_TYPE_HEXAROTOR=13, /* Hexarotor | */
+ MAV_TYPE_OCTOROTOR=14, /* Octorotor | */
+ MAV_TYPE_TRICOPTER=15, /* Octorotor | */
+ MAV_TYPE_FLAPPING_WING=16, /* Flapping wing | */
+ MAV_TYPE_KITE=17, /* Flapping wing | */
+ MAV_TYPE_ENUM_END=18, /* | */
+};
+#endif
+
+/** @brief These flags encode the MAV mode. */
+#ifndef HAVE_ENUM_MAV_MODE_FLAG
+#define HAVE_ENUM_MAV_MODE_FLAG
+enum MAV_MODE_FLAG
+{
+ MAV_MODE_FLAG_CUSTOM_MODE_ENABLED=1, /* 0b00000001 Reserved for future use. | */
+ MAV_MODE_FLAG_TEST_ENABLED=2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
+ MAV_MODE_FLAG_AUTO_ENABLED=4, /* 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. | */
+ MAV_MODE_FLAG_GUIDED_ENABLED=8, /* 0b00001000 guided mode enabled, system flies MISSIONs / mission items. | */
+ MAV_MODE_FLAG_STABILIZE_ENABLED=16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */
+ MAV_MODE_FLAG_HIL_ENABLED=32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */
+ MAV_MODE_FLAG_MANUAL_INPUT_ENABLED=64, /* 0b01000000 remote control input is enabled. | */
+ MAV_MODE_FLAG_SAFETY_ARMED=128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. | */
+ MAV_MODE_FLAG_ENUM_END=129, /* | */
+};
+#endif
+
+/** @brief These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not. */
+#ifndef HAVE_ENUM_MAV_MODE_FLAG_DECODE_POSITION
+#define HAVE_ENUM_MAV_MODE_FLAG_DECODE_POSITION
+enum MAV_MODE_FLAG_DECODE_POSITION
+{
+ MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE=1, /* Eighth bit: 00000001 | */
+ MAV_MODE_FLAG_DECODE_POSITION_TEST=2, /* Seventh bit: 00000010 | */
+ MAV_MODE_FLAG_DECODE_POSITION_AUTO=4, /* Sixt bit: 00000100 | */
+ MAV_MODE_FLAG_DECODE_POSITION_GUIDED=8, /* Fifth bit: 00001000 | */
+ MAV_MODE_FLAG_DECODE_POSITION_STABILIZE=16, /* Fourth bit: 00010000 | */
+ MAV_MODE_FLAG_DECODE_POSITION_HIL=32, /* Third bit: 00100000 | */
+ MAV_MODE_FLAG_DECODE_POSITION_MANUAL=64, /* Second bit: 01000000 | */
+ MAV_MODE_FLAG_DECODE_POSITION_SAFETY=128, /* First bit: 10000000 | */
+ MAV_MODE_FLAG_DECODE_POSITION_ENUM_END=129, /* | */
+};
+#endif
+
+/** @brief Override command, pauses current mission execution and moves immediately to a position */
+#ifndef HAVE_ENUM_MAV_GOTO
+#define HAVE_ENUM_MAV_GOTO
+enum MAV_GOTO
+{
+ MAV_GOTO_DO_HOLD=0, /* Hold at the current position. | */
+ MAV_GOTO_DO_CONTINUE=1, /* Continue with the next item in mission execution. | */
+ MAV_GOTO_HOLD_AT_CURRENT_POSITION=2, /* Hold at the current position of the system | */
+ MAV_GOTO_HOLD_AT_SPECIFIED_POSITION=3, /* Hold at the position specified in the parameters of the DO_HOLD action | */
+ MAV_GOTO_ENUM_END=4, /* | */
+};
+#endif
+
+/** @brief These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it
+ simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override. */
+#ifndef HAVE_ENUM_MAV_MODE
+#define HAVE_ENUM_MAV_MODE
+enum MAV_MODE
+{
+ MAV_MODE_PREFLIGHT=0, /* System is not ready to fly, booting, calibrating, etc. No flag is set. | */
+ MAV_MODE_MANUAL_DISARMED=64, /* System is allowed to be active, under manual (RC) control, no stabilization | */
+ MAV_MODE_TEST_DISARMED=66, /* UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. | */
+ MAV_MODE_STABILIZE_DISARMED=80, /* System is allowed to be active, under assisted RC control. | */
+ MAV_MODE_GUIDED_DISARMED=88, /* System is allowed to be active, under autonomous control, manual setpoint | */
+ MAV_MODE_AUTO_DISARMED=92, /* System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) | */
+ MAV_MODE_MANUAL_ARMED=192, /* System is allowed to be active, under manual (RC) control, no stabilization | */
+ MAV_MODE_TEST_ARMED=194, /* UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. | */
+ MAV_MODE_STABILIZE_ARMED=208, /* System is allowed to be active, under assisted RC control. | */
+ MAV_MODE_GUIDED_ARMED=216, /* System is allowed to be active, under autonomous control, manual setpoint | */
+ MAV_MODE_AUTO_ARMED=220, /* System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) | */
+ MAV_MODE_ENUM_END=221, /* | */
+};
+#endif
+
+/** @brief */
+#ifndef HAVE_ENUM_MAV_STATE
+#define HAVE_ENUM_MAV_STATE
+enum MAV_STATE
+{
+ MAV_STATE_UNINIT=0, /* Uninitialized system, state is unknown. | */
+ MAV_STATE_BOOT=1, /* System is booting up. | */
+ MAV_STATE_CALIBRATING=2, /* System is calibrating and not flight-ready. | */
+ MAV_STATE_STANDBY=3, /* System is grounded and on standby. It can be launched any time. | */
+ MAV_STATE_ACTIVE=4, /* System is active and might be already airborne. Motors are engaged. | */
+ MAV_STATE_CRITICAL=5, /* System is in a non-normal flight mode. It can however still navigate. | */
+ MAV_STATE_EMERGENCY=6, /* System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down. | */
+ MAV_STATE_POWEROFF=7, /* System just initialized its power-down sequence, will shut down now. | */
+ MAV_STATE_ENUM_END=8, /* | */
+};
+#endif
+
+/** @brief */
+#ifndef HAVE_ENUM_MAV_COMPONENT
+#define HAVE_ENUM_MAV_COMPONENT
+enum MAV_COMPONENT
+{
+ MAV_COMP_ID_ALL=0, /* | */
+ MAV_COMP_ID_CAMERA=100, /* | */
+ MAV_COMP_ID_SERVO1=140, /* | */
+ MAV_COMP_ID_SERVO2=141, /* | */
+ MAV_COMP_ID_SERVO3=142, /* | */
+ MAV_COMP_ID_SERVO4=143, /* | */
+ MAV_COMP_ID_SERVO5=144, /* | */
+ MAV_COMP_ID_SERVO6=145, /* | */
+ MAV_COMP_ID_SERVO7=146, /* | */
+ MAV_COMP_ID_SERVO8=147, /* | */
+ MAV_COMP_ID_SERVO9=148, /* | */
+ MAV_COMP_ID_SERVO10=149, /* | */
+ MAV_COMP_ID_SERVO11=150, /* | */
+ MAV_COMP_ID_SERVO12=151, /* | */
+ MAV_COMP_ID_SERVO13=152, /* | */
+ MAV_COMP_ID_SERVO14=153, /* | */
+ MAV_COMP_ID_MAPPER=180, /* | */
+ MAV_COMP_ID_MISSIONPLANNER=190, /* | */
+ MAV_COMP_ID_PATHPLANNER=195, /* | */
+ MAV_COMP_ID_IMU=200, /* | */
+ MAV_COMP_ID_IMU_2=201, /* | */
+ MAV_COMP_ID_IMU_3=202, /* | */
+ MAV_COMP_ID_GPS=220, /* | */
+ MAV_COMP_ID_UDP_BRIDGE=240, /* | */
+ MAV_COMP_ID_UART_BRIDGE=241, /* | */
+ MAV_COMP_ID_SYSTEM_CONTROL=250, /* | */
+ MAV_COMPONENT_ENUM_END=251, /* | */
+};
+#endif
+
+/** @brief */
+#ifndef HAVE_ENUM_MAV_FRAME
+#define HAVE_ENUM_MAV_FRAME
+enum MAV_FRAME
+{
+ MAV_FRAME_GLOBAL=0, /* Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL) | */
+ MAV_FRAME_LOCAL_NED=1, /* Local coordinate frame, Z-up (x: north, y: east, z: down). | */
+ MAV_FRAME_MISSION=2, /* NOT a coordinate frame, indicates a mission command. | */
+ MAV_FRAME_GLOBAL_RELATIVE_ALT=3, /* Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location. | */
+ MAV_FRAME_LOCAL_ENU=4, /* Local coordinate frame, Z-down (x: east, y: north, z: up) | */
+ MAV_FRAME_ENUM_END=5, /* | */
+};
+#endif
+
+/** @brief */
+#ifndef HAVE_ENUM_MAVLINK_DATA_STREAM_TYPE
+#define HAVE_ENUM_MAVLINK_DATA_STREAM_TYPE
+enum MAVLINK_DATA_STREAM_TYPE
+{
+ MAVLINK_DATA_STREAM_IMG_JPEG=1, /* | */
+ MAVLINK_DATA_STREAM_IMG_BMP=2, /* | */
+ MAVLINK_DATA_STREAM_IMG_RAW8U=3, /* | */
+ MAVLINK_DATA_STREAM_IMG_RAW32U=4, /* | */
+ MAVLINK_DATA_STREAM_IMG_PGM=5, /* | */
+ MAVLINK_DATA_STREAM_IMG_PNG=6, /* | */
+ MAVLINK_DATA_STREAM_TYPE_ENUM_END=7, /* | */
+};
+#endif
+
+/** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a
+ recommendation to the autopilot software. Individual autopilots may or may not obey
+ the recommended messages. */
+#ifndef HAVE_ENUM_MAV_DATA_STREAM
+#define HAVE_ENUM_MAV_DATA_STREAM
+enum MAV_DATA_STREAM
+{
+ MAV_DATA_STREAM_ALL=0, /* Enable all data streams | */
+ MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. | */
+ MAV_DATA_STREAM_EXTENDED_STATUS=2, /* Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS | */
+ MAV_DATA_STREAM_RC_CHANNELS=3, /* Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW | */
+ MAV_DATA_STREAM_RAW_CONTROLLER=4, /* Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. | */
+ MAV_DATA_STREAM_POSITION=6, /* Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. | */
+ MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot | */
+ MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot | */
+ MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot | */
+ MAV_DATA_STREAM_ENUM_END=13, /* | */
+};
+#endif
+
+/** @brief The ROI (region of interest) for the vehicle. This can be
+ be used by the vehicle for camera/vehicle attitude alignment (see
+ MAV_CMD_NAV_ROI). */
+#ifndef HAVE_ENUM_MAV_ROI
+#define HAVE_ENUM_MAV_ROI
+enum MAV_ROI
+{
+ MAV_ROI_NONE=0, /* No region of interest. | */
+ MAV_ROI_WPNEXT=1, /* Point toward next MISSION. | */
+ MAV_ROI_WPINDEX=2, /* Point toward given MISSION. | */
+ MAV_ROI_LOCATION=3, /* Point toward fixed location. | */
+ MAV_ROI_TARGET=4, /* Point toward of given id. | */
+ MAV_ROI_ENUM_END=5, /* | */
+};
+#endif
+
+/** @brief ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission. */
+#ifndef HAVE_ENUM_MAV_CMD_ACK
+#define HAVE_ENUM_MAV_CMD_ACK
+enum MAV_CMD_ACK
+{
+ MAV_CMD_ACK_OK=1, /* Command / mission item is ok. | */
+ MAV_CMD_ACK_ERR_FAIL=2, /* Generic error message if none of the other reasons fails or if no detailed error reporting is implemented. | */
+ MAV_CMD_ACK_ERR_ACCESS_DENIED=3, /* The system is refusing to accept this command from this source / communication partner. | */
+ MAV_CMD_ACK_ERR_NOT_SUPPORTED=4, /* Command or mission item is not supported, other commands would be accepted. | */
+ MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTED=5, /* The coordinate frame of this command / mission item is not supported. | */
+ MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGE=6, /* The coordinate frame of this command is ok, but he coordinate values exceed the safety limits of this system. This is a generic error, please use the more specific error messages below if possible. | */
+ MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE=7, /* The X or latitude value is out of range. | */
+ MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE=8, /* The Y or longitude value is out of range. | */
+ MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE=9, /* The Z or altitude value is out of range. | */
+ MAV_CMD_ACK_ENUM_END=10, /* | */
+};
+#endif
+
+/** @brief result from a mavlink command */
+#ifndef HAVE_ENUM_MAV_RESULT
+#define HAVE_ENUM_MAV_RESULT
+enum MAV_RESULT
+{
+ MAV_RESULT_ACCEPTED=0, /* Command ACCEPTED and EXECUTED | */
+ MAV_RESULT_TEMPORARILY_REJECTED=1, /* Command TEMPORARY REJECTED/DENIED | */
+ MAV_RESULT_DENIED=2, /* Command PERMANENTLY DENIED | */
+ MAV_RESULT_UNSUPPORTED=3, /* Command UNKNOWN/UNSUPPORTED | */
+ MAV_RESULT_FAILED=4, /* Command executed, but failed | */
+ MAV_RESULT_ENUM_END=5, /* | */
+};
+#endif
+
+/** @brief result in a mavlink mission ack */
+#ifndef HAVE_ENUM_MAV_MISSION_RESULT
+#define HAVE_ENUM_MAV_MISSION_RESULT
+enum MAV_MISSION_RESULT
+{
+ MAV_MISSION_ACCEPTED=0, /* mission accepted OK | */
+ MAV_MISSION_ERROR=1, /* generic error / not accepting mission commands at all right now | */
+ MAV_MISSION_UNSUPPORTED_FRAME=2, /* coordinate frame is not supported | */
+ MAV_MISSION_UNSUPPORTED=3, /* command is not supported | */
+ MAV_MISSION_NO_SPACE=4, /* mission item exceeds storage space | */
+ MAV_MISSION_INVALID=5, /* one of the parameters has an invalid value | */
+ MAV_MISSION_INVALID_PARAM1=6, /* param1 has an invalid value | */
+ MAV_MISSION_INVALID_PARAM2=7, /* param2 has an invalid value | */
+ MAV_MISSION_INVALID_PARAM3=8, /* param3 has an invalid value | */
+ MAV_MISSION_INVALID_PARAM4=9, /* param4 has an invalid value | */
+ MAV_MISSION_INVALID_PARAM5_X=10, /* x/param5 has an invalid value | */
+ MAV_MISSION_INVALID_PARAM6_Y=11, /* y/param6 has an invalid value | */
+ MAV_MISSION_INVALID_PARAM7=12, /* param7 has an invalid value | */
+ MAV_MISSION_INVALID_SEQUENCE=13, /* received waypoint out of sequence | */
+ MAV_MISSION_DENIED=14, /* not accepting any mission commands from this communication partner | */
+ MAV_MISSION_RESULT_ENUM_END=15, /* | */
+};
+#endif
+
+/** @brief Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/. */
+#ifndef HAVE_ENUM_MAV_SEVERITY
+#define HAVE_ENUM_MAV_SEVERITY
+enum MAV_SEVERITY
+{
+ MAV_SEVERITY_EMERGENCY=0, /* System is unusable. This is a "panic" condition. | */
+ MAV_SEVERITY_ALERT=1, /* Action should be taken immediately. Indicates error in non-critical systems. | */
+ MAV_SEVERITY_CRITICAL=2, /* Action must be taken immediately. Indicates failure in a primary system. | */
+ MAV_SEVERITY_ERROR=3, /* Indicates an error in secondary/redundant systems. | */
+ MAV_SEVERITY_WARNING=4, /* Indicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning. | */
+ MAV_SEVERITY_NOTICE=5, /* An unusual event has occured, though not an error condition. This should be investigated for the root cause. | */
+ MAV_SEVERITY_INFO=6, /* Normal operational messages. Useful for logging. No action is required for these messages. | */
+ MAV_SEVERITY_DEBUG=7, /* Useful non-operational messages that can assist in debugging. These should not occur during normal operation. | */
+ MAV_SEVERITY_ENUM_END=8, /* | */
+};
+#endif
+
+
+
+// MAVLINK VERSION
+
+#ifndef MAVLINK_VERSION
+#define MAVLINK_VERSION 3
+#endif
+
+#if (MAVLINK_VERSION == 0)
+#undef MAVLINK_VERSION
+#define MAVLINK_VERSION 3
+#endif
+
+
+// MESSAGE DEFINITIONS
+#include "./mavlink_msg_heartbeat.h"
+#include "./mavlink_msg_sys_status.h"
+#include "./mavlink_msg_system_time.h"
+#include "./mavlink_msg_ping.h"
+#include "./mavlink_msg_change_operator_control.h"
+#include "./mavlink_msg_change_operator_control_ack.h"
+#include "./mavlink_msg_auth_key.h"
+#include "./mavlink_msg_set_mode.h"
+#include "./mavlink_msg_param_request_read.h"
+#include "./mavlink_msg_param_request_list.h"
+#include "./mavlink_msg_param_value.h"
+#include "./mavlink_msg_param_set.h"
+#include "./mavlink_msg_gps_raw_int.h"
+#include "./mavlink_msg_gps_status.h"
+#include "./mavlink_msg_scaled_imu.h"
+#include "./mavlink_msg_raw_imu.h"
+#include "./mavlink_msg_raw_pressure.h"
+#include "./mavlink_msg_scaled_pressure.h"
+#include "./mavlink_msg_attitude.h"
+#include "./mavlink_msg_attitude_quaternion.h"
+#include "./mavlink_msg_local_position_ned.h"
+#include "./mavlink_msg_global_position_int.h"
+#include "./mavlink_msg_rc_channels_scaled.h"
+#include "./mavlink_msg_rc_channels_raw.h"
+#include "./mavlink_msg_servo_output_raw.h"
+#include "./mavlink_msg_mission_request_partial_list.h"
+#include "./mavlink_msg_mission_write_partial_list.h"
+#include "./mavlink_msg_mission_item.h"
+#include "./mavlink_msg_mission_request.h"
+#include "./mavlink_msg_mission_set_current.h"
+#include "./mavlink_msg_mission_current.h"
+#include "./mavlink_msg_mission_request_list.h"
+#include "./mavlink_msg_mission_count.h"
+#include "./mavlink_msg_mission_clear_all.h"
+#include "./mavlink_msg_mission_item_reached.h"
+#include "./mavlink_msg_mission_ack.h"
+#include "./mavlink_msg_set_gps_global_origin.h"
+#include "./mavlink_msg_gps_global_origin.h"
+#include "./mavlink_msg_set_local_position_setpoint.h"
+#include "./mavlink_msg_local_position_setpoint.h"
+#include "./mavlink_msg_global_position_setpoint_int.h"
+#include "./mavlink_msg_set_global_position_setpoint_int.h"
+#include "./mavlink_msg_safety_set_allowed_area.h"
+#include "./mavlink_msg_safety_allowed_area.h"
+#include "./mavlink_msg_set_roll_pitch_yaw_thrust.h"
+#include "./mavlink_msg_set_roll_pitch_yaw_speed_thrust.h"
+#include "./mavlink_msg_roll_pitch_yaw_thrust_setpoint.h"
+#include "./mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h"
+#include "./mavlink_msg_set_quad_motors_setpoint.h"
+#include "./mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h"
+#include "./mavlink_msg_nav_controller_output.h"
+#include "./mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust.h"
+#include "./mavlink_msg_state_correction.h"
+#include "./mavlink_msg_request_data_stream.h"
+#include "./mavlink_msg_data_stream.h"
+#include "./mavlink_msg_manual_control.h"
+#include "./mavlink_msg_rc_channels_override.h"
+#include "./mavlink_msg_vfr_hud.h"
+#include "./mavlink_msg_command_long.h"
+#include "./mavlink_msg_command_ack.h"
+#include "./mavlink_msg_local_position_ned_system_global_offset.h"
+#include "./mavlink_msg_hil_state.h"
+#include "./mavlink_msg_hil_controls.h"
+#include "./mavlink_msg_hil_rc_inputs_raw.h"
+#include "./mavlink_msg_optical_flow.h"
+#include "./mavlink_msg_global_vision_position_estimate.h"
+#include "./mavlink_msg_vision_position_estimate.h"
+#include "./mavlink_msg_vision_speed_estimate.h"
+#include "./mavlink_msg_vicon_position_estimate.h"
+#include "./mavlink_msg_memory_vect.h"
+#include "./mavlink_msg_debug_vect.h"
+#include "./mavlink_msg_named_value_float.h"
+#include "./mavlink_msg_named_value_int.h"
+#include "./mavlink_msg_statustext.h"
+#include "./mavlink_msg_debug.h"
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+#endif // COMMON_H
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink.h
new file mode 100644
index 0000000..e9dbbb3
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink.h
@@ -0,0 +1,27 @@
+/** @file
+ * @brief MAVLink comm protocol built from common.xml
+ * @see http://pixhawk.ethz.ch/software/mavlink
+ */
+#ifndef MAVLINK_H
+#define MAVLINK_H
+
+#ifndef MAVLINK_STX
+#define MAVLINK_STX 254
+#endif
+
+#ifndef MAVLINK_ENDIAN
+#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
+#endif
+
+#ifndef MAVLINK_ALIGNED_FIELDS
+#define MAVLINK_ALIGNED_FIELDS 1
+#endif
+
+#ifndef MAVLINK_CRC_EXTRA
+#define MAVLINK_CRC_EXTRA 0
+#endif
+
+#include "version.h"
+#include "common.h"
+
+#endif // MAVLINK_H
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_attitude.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_attitude.h
new file mode 100644
index 0000000..9074a1d
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_attitude.h
@@ -0,0 +1,276 @@
+// MESSAGE ATTITUDE PACKING
+
+#define MAVLINK_MSG_ID_ATTITUDE 30
+
+typedef struct __mavlink_attitude_t
+{
+ uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ float roll; ///< Roll angle (rad)
+ float pitch; ///< Pitch angle (rad)
+ float yaw; ///< Yaw angle (rad)
+ float rollspeed; ///< Roll angular speed (rad/s)
+ float pitchspeed; ///< Pitch angular speed (rad/s)
+ float yawspeed; ///< Yaw angular speed (rad/s)
+} mavlink_attitude_t;
+
+#define MAVLINK_MSG_ID_ATTITUDE_LEN 28
+#define MAVLINK_MSG_ID_30_LEN 28
+
+
+
+#define MAVLINK_MESSAGE_INFO_ATTITUDE { \
+ "ATTITUDE", \
+ 7, \
+ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
+ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
+ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
+ { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
+ { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
+ { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a attitude 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 time_boot_ms Timestamp (milliseconds since system boot)
+ * @param roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param rollspeed Roll angular speed (rad/s)
+ * @param pitchspeed Pitch angular speed (rad/s)
+ * @param yawspeed Yaw angular speed (rad/s)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, roll);
+ _mav_put_float(buf, 8, pitch);
+ _mav_put_float(buf, 12, yaw);
+ _mav_put_float(buf, 16, rollspeed);
+ _mav_put_float(buf, 20, pitchspeed);
+ _mav_put_float(buf, 24, yawspeed);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+ mavlink_attitude_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.rollspeed = rollspeed;
+ packet.pitchspeed = pitchspeed;
+ packet.yawspeed = yawspeed;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
+ return mavlink_finalize_message(msg, system_id, component_id, 28, 39);
+}
+
+/**
+ * @brief Pack a attitude 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param rollspeed Roll angular speed (rad/s)
+ * @param pitchspeed Pitch angular speed (rad/s)
+ * @param yawspeed Yaw angular speed (rad/s)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, roll);
+ _mav_put_float(buf, 8, pitch);
+ _mav_put_float(buf, 12, yaw);
+ _mav_put_float(buf, 16, rollspeed);
+ _mav_put_float(buf, 20, pitchspeed);
+ _mav_put_float(buf, 24, yawspeed);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+ mavlink_attitude_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.rollspeed = rollspeed;
+ packet.pitchspeed = pitchspeed;
+ packet.yawspeed = yawspeed;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 39);
+}
+
+/**
+ * @brief Encode a attitude 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 attitude C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
+{
+ return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
+}
+
+/**
+ * @brief Send a attitude message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param rollspeed Roll angular speed (rad/s)
+ * @param pitchspeed Pitch angular speed (rad/s)
+ * @param yawspeed Yaw angular speed (rad/s)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, roll);
+ _mav_put_float(buf, 8, pitch);
+ _mav_put_float(buf, 12, yaw);
+ _mav_put_float(buf, 16, rollspeed);
+ _mav_put_float(buf, 20, pitchspeed);
+ _mav_put_float(buf, 24, yawspeed);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, 28, 39);
+#else
+ mavlink_attitude_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.rollspeed = rollspeed;
+ packet.pitchspeed = pitchspeed;
+ packet.yawspeed = yawspeed;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, 28, 39);
+#endif
+}
+
+#endif
+
+// MESSAGE ATTITUDE UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from attitude message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field roll from attitude message
+ *
+ * @return Roll angle (rad)
+ */
+static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field pitch from attitude message
+ *
+ * @return Pitch angle (rad)
+ */
+static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field yaw from attitude message
+ *
+ * @return Yaw angle (rad)
+ */
+static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field rollspeed from attitude message
+ *
+ * @return Roll angular speed (rad/s)
+ */
+static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field pitchspeed from attitude message
+ *
+ * @return Pitch angular speed (rad/s)
+ */
+static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Get field yawspeed from attitude message
+ *
+ * @return Yaw angular speed (rad/s)
+ */
+static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 24);
+}
+
+/**
+ * @brief Decode a attitude message into a struct
+ *
+ * @param msg The message to decode
+ * @param attitude C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg);
+ attitude->roll = mavlink_msg_attitude_get_roll(msg);
+ attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
+ attitude->yaw = mavlink_msg_attitude_get_yaw(msg);
+ attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
+ attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
+ attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
+#else
+ memcpy(attitude, _MAV_PAYLOAD(msg), 28);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_attitude_quaternion.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_attitude_quaternion.h
new file mode 100644
index 0000000..5560488
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_attitude_quaternion.h
@@ -0,0 +1,298 @@
+// MESSAGE ATTITUDE_QUATERNION PACKING
+
+#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION 31
+
+typedef struct __mavlink_attitude_quaternion_t
+{
+ uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ float q1; ///< Quaternion component 1
+ float q2; ///< Quaternion component 2
+ float q3; ///< Quaternion component 3
+ float q4; ///< Quaternion component 4
+ float rollspeed; ///< Roll angular speed (rad/s)
+ float pitchspeed; ///< Pitch angular speed (rad/s)
+ float yawspeed; ///< Yaw angular speed (rad/s)
+} mavlink_attitude_quaternion_t;
+
+#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 32
+#define MAVLINK_MSG_ID_31_LEN 32
+
+
+
+#define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \
+ "ATTITUDE_QUATERNION", \
+ 8, \
+ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
+ { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
+ { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
+ { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \
+ { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \
+ { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
+ { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
+ { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a attitude_quaternion 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 time_boot_ms Timestamp (milliseconds since system boot)
+ * @param q1 Quaternion component 1
+ * @param q2 Quaternion component 2
+ * @param q3 Quaternion component 3
+ * @param q4 Quaternion component 4
+ * @param rollspeed Roll angular speed (rad/s)
+ * @param pitchspeed Pitch angular speed (rad/s)
+ * @param yawspeed Yaw angular speed (rad/s)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[32];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, q1);
+ _mav_put_float(buf, 8, q2);
+ _mav_put_float(buf, 12, q3);
+ _mav_put_float(buf, 16, q4);
+ _mav_put_float(buf, 20, rollspeed);
+ _mav_put_float(buf, 24, pitchspeed);
+ _mav_put_float(buf, 28, yawspeed);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
+#else
+ mavlink_attitude_quaternion_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.q1 = q1;
+ packet.q2 = q2;
+ packet.q3 = q3;
+ packet.q4 = q4;
+ packet.rollspeed = rollspeed;
+ packet.pitchspeed = pitchspeed;
+ packet.yawspeed = yawspeed;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
+ return mavlink_finalize_message(msg, system_id, component_id, 32, 246);
+}
+
+/**
+ * @brief Pack a attitude_quaternion 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param q1 Quaternion component 1
+ * @param q2 Quaternion component 2
+ * @param q3 Quaternion component 3
+ * @param q4 Quaternion component 4
+ * @param rollspeed Roll angular speed (rad/s)
+ * @param pitchspeed Pitch angular speed (rad/s)
+ * @param yawspeed Yaw angular speed (rad/s)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint32_t time_boot_ms,float q1,float q2,float q3,float q4,float rollspeed,float pitchspeed,float yawspeed)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[32];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, q1);
+ _mav_put_float(buf, 8, q2);
+ _mav_put_float(buf, 12, q3);
+ _mav_put_float(buf, 16, q4);
+ _mav_put_float(buf, 20, rollspeed);
+ _mav_put_float(buf, 24, pitchspeed);
+ _mav_put_float(buf, 28, yawspeed);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
+#else
+ mavlink_attitude_quaternion_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.q1 = q1;
+ packet.q2 = q2;
+ packet.q3 = q3;
+ packet.q4 = q4;
+ packet.rollspeed = rollspeed;
+ packet.pitchspeed = pitchspeed;
+ packet.yawspeed = yawspeed;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 246);
+}
+
+/**
+ * @brief Encode a attitude_quaternion 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 attitude_quaternion C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_attitude_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion)
+{
+ return mavlink_msg_attitude_quaternion_pack(system_id, component_id, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
+}
+
+/**
+ * @brief Send a attitude_quaternion message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param q1 Quaternion component 1
+ * @param q2 Quaternion component 2
+ * @param q3 Quaternion component 3
+ * @param q4 Quaternion component 4
+ * @param rollspeed Roll angular speed (rad/s)
+ * @param pitchspeed Pitch angular speed (rad/s)
+ * @param yawspeed Yaw angular speed (rad/s)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[32];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, q1);
+ _mav_put_float(buf, 8, q2);
+ _mav_put_float(buf, 12, q3);
+ _mav_put_float(buf, 16, q4);
+ _mav_put_float(buf, 20, rollspeed);
+ _mav_put_float(buf, 24, pitchspeed);
+ _mav_put_float(buf, 28, yawspeed);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, 32, 246);
+#else
+ mavlink_attitude_quaternion_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.q1 = q1;
+ packet.q2 = q2;
+ packet.q3 = q3;
+ packet.q4 = q4;
+ packet.rollspeed = rollspeed;
+ packet.pitchspeed = pitchspeed;
+ packet.yawspeed = yawspeed;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, 32, 246);
+#endif
+}
+
+#endif
+
+// MESSAGE ATTITUDE_QUATERNION UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from attitude_quaternion message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_attitude_quaternion_get_time_boot_ms(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field q1 from attitude_quaternion message
+ *
+ * @return Quaternion component 1
+ */
+static inline float mavlink_msg_attitude_quaternion_get_q1(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field q2 from attitude_quaternion message
+ *
+ * @return Quaternion component 2
+ */
+static inline float mavlink_msg_attitude_quaternion_get_q2(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field q3 from attitude_quaternion message
+ *
+ * @return Quaternion component 3
+ */
+static inline float mavlink_msg_attitude_quaternion_get_q3(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field q4 from attitude_quaternion message
+ *
+ * @return Quaternion component 4
+ */
+static inline float mavlink_msg_attitude_quaternion_get_q4(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field rollspeed from attitude_quaternion message
+ *
+ * @return Roll angular speed (rad/s)
+ */
+static inline float mavlink_msg_attitude_quaternion_get_rollspeed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Get field pitchspeed from attitude_quaternion message
+ *
+ * @return Pitch angular speed (rad/s)
+ */
+static inline float mavlink_msg_attitude_quaternion_get_pitchspeed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 24);
+}
+
+/**
+ * @brief Get field yawspeed from attitude_quaternion message
+ *
+ * @return Yaw angular speed (rad/s)
+ */
+static inline float mavlink_msg_attitude_quaternion_get_yawspeed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 28);
+}
+
+/**
+ * @brief Decode a attitude_quaternion message into a struct
+ *
+ * @param msg The message to decode
+ * @param attitude_quaternion C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_attitude_quaternion_decode(const mavlink_message_t* msg, mavlink_attitude_quaternion_t* attitude_quaternion)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ attitude_quaternion->time_boot_ms = mavlink_msg_attitude_quaternion_get_time_boot_ms(msg);
+ attitude_quaternion->q1 = mavlink_msg_attitude_quaternion_get_q1(msg);
+ attitude_quaternion->q2 = mavlink_msg_attitude_quaternion_get_q2(msg);
+ attitude_quaternion->q3 = mavlink_msg_attitude_quaternion_get_q3(msg);
+ attitude_quaternion->q4 = mavlink_msg_attitude_quaternion_get_q4(msg);
+ attitude_quaternion->rollspeed = mavlink_msg_attitude_quaternion_get_rollspeed(msg);
+ attitude_quaternion->pitchspeed = mavlink_msg_attitude_quaternion_get_pitchspeed(msg);
+ attitude_quaternion->yawspeed = mavlink_msg_attitude_quaternion_get_yawspeed(msg);
+#else
+ memcpy(attitude_quaternion, _MAV_PAYLOAD(msg), 32);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_auth_key.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_auth_key.h
new file mode 100644
index 0000000..baa119f
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_auth_key.h
@@ -0,0 +1,144 @@
+// MESSAGE AUTH_KEY PACKING
+
+#define MAVLINK_MSG_ID_AUTH_KEY 7
+
+typedef struct __mavlink_auth_key_t
+{
+ char key[32]; ///< key
+} mavlink_auth_key_t;
+
+#define MAVLINK_MSG_ID_AUTH_KEY_LEN 32
+#define MAVLINK_MSG_ID_7_LEN 32
+
+#define MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN 32
+
+#define MAVLINK_MESSAGE_INFO_AUTH_KEY { \
+ "AUTH_KEY", \
+ 1, \
+ { { "key", NULL, MAVLINK_TYPE_CHAR, 32, 0, offsetof(mavlink_auth_key_t, key) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a auth_key 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 key key
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ const char *key)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[32];
+
+ _mav_put_char_array(buf, 0, key, 32);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
+#else
+ mavlink_auth_key_t packet;
+
+ mav_array_memcpy(packet.key, key, sizeof(char)*32);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
+ return mavlink_finalize_message(msg, system_id, component_id, 32, 119);
+}
+
+/**
+ * @brief Pack a auth_key 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param key key
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_auth_key_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ const char *key)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[32];
+
+ _mav_put_char_array(buf, 0, key, 32);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
+#else
+ mavlink_auth_key_t packet;
+
+ mav_array_memcpy(packet.key, key, sizeof(char)*32);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 119);
+}
+
+/**
+ * @brief Encode a auth_key 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 auth_key C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_auth_key_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_auth_key_t* auth_key)
+{
+ return mavlink_msg_auth_key_pack(system_id, component_id, msg, auth_key->key);
+}
+
+/**
+ * @brief Send a auth_key message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param key key
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char *key)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[32];
+
+ _mav_put_char_array(buf, 0, key, 32);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, buf, 32, 119);
+#else
+ mavlink_auth_key_t packet;
+
+ mav_array_memcpy(packet.key, key, sizeof(char)*32);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, (const char *)&packet, 32, 119);
+#endif
+}
+
+#endif
+
+// MESSAGE AUTH_KEY UNPACKING
+
+
+/**
+ * @brief Get field key from auth_key message
+ *
+ * @return key
+ */
+static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg, char *key)
+{
+ return _MAV_RETURN_char_array(msg, key, 32, 0);
+}
+
+/**
+ * @brief Decode a auth_key message into a struct
+ *
+ * @param msg The message to decode
+ * @param auth_key C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_auth_key_decode(const mavlink_message_t* msg, mavlink_auth_key_t* auth_key)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mavlink_msg_auth_key_get_key(msg, auth_key->key);
+#else
+ memcpy(auth_key, _MAV_PAYLOAD(msg), 32);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control.h
new file mode 100644
index 0000000..a558510
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control.h
@@ -0,0 +1,204 @@
+// MESSAGE CHANGE_OPERATOR_CONTROL PACKING
+
+#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL 5
+
+typedef struct __mavlink_change_operator_control_t
+{
+ uint8_t target_system; ///< System the GCS requests control for
+ uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV
+ uint8_t version; ///< 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
+ char passkey[25]; ///< Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
+} mavlink_change_operator_control_t;
+
+#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN 28
+#define MAVLINK_MSG_ID_5_LEN 28
+
+#define MAVLINK_MSG_CHANGE_OPERATOR_CONTROL_FIELD_PASSKEY_LEN 25
+
+#define MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL { \
+ "CHANGE_OPERATOR_CONTROL", \
+ 4, \
+ { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_change_operator_control_t, target_system) }, \
+ { "control_request", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_change_operator_control_t, control_request) }, \
+ { "version", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_change_operator_control_t, version) }, \
+ { "passkey", NULL, MAVLINK_TYPE_CHAR, 25, 3, offsetof(mavlink_change_operator_control_t, passkey) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a change_operator_control 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_system System the GCS requests control for
+ * @param control_request 0: request control of this MAV, 1: Release control of this MAV
+ * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
+ * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_change_operator_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t control_request, uint8_t version, const char *passkey)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, control_request);
+ _mav_put_uint8_t(buf, 2, version);
+ _mav_put_char_array(buf, 3, passkey, 25);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+ mavlink_change_operator_control_t packet;
+ packet.target_system = target_system;
+ packet.control_request = control_request;
+ packet.version = version;
+ mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
+ return mavlink_finalize_message(msg, system_id, component_id, 28, 217);
+}
+
+/**
+ * @brief Pack a change_operator_control 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System the GCS requests control for
+ * @param control_request 0: request control of this MAV, 1: Release control of this MAV
+ * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
+ * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_change_operator_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t control_request,uint8_t version,const char *passkey)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, control_request);
+ _mav_put_uint8_t(buf, 2, version);
+ _mav_put_char_array(buf, 3, passkey, 25);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+ mavlink_change_operator_control_t packet;
+ packet.target_system = target_system;
+ packet.control_request = control_request;
+ packet.version = version;
+ mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 217);
+}
+
+/**
+ * @brief Encode a change_operator_control 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 change_operator_control C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_change_operator_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_change_operator_control_t* change_operator_control)
+{
+ return mavlink_msg_change_operator_control_pack(system_id, component_id, msg, change_operator_control->target_system, change_operator_control->control_request, change_operator_control->version, change_operator_control->passkey);
+}
+
+/**
+ * @brief Send a change_operator_control message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System the GCS requests control for
+ * @param control_request 0: request control of this MAV, 1: Release control of this MAV
+ * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
+ * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t control_request, uint8_t version, const char *passkey)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, control_request);
+ _mav_put_uint8_t(buf, 2, version);
+ _mav_put_char_array(buf, 3, passkey, 25);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, buf, 28, 217);
+#else
+ mavlink_change_operator_control_t packet;
+ packet.target_system = target_system;
+ packet.control_request = control_request;
+ packet.version = version;
+ mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, (const char *)&packet, 28, 217);
+#endif
+}
+
+#endif
+
+// MESSAGE CHANGE_OPERATOR_CONTROL UNPACKING
+
+
+/**
+ * @brief Get field target_system from change_operator_control message
+ *
+ * @return System the GCS requests control for
+ */
+static inline uint8_t mavlink_msg_change_operator_control_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 0);
+}
+
+/**
+ * @brief Get field control_request from change_operator_control message
+ *
+ * @return 0: request control of this MAV, 1: Release control of this MAV
+ */
+static inline uint8_t mavlink_msg_change_operator_control_get_control_request(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 1);
+}
+
+/**
+ * @brief Get field version from change_operator_control message
+ *
+ * @return 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
+ */
+static inline uint8_t mavlink_msg_change_operator_control_get_version(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 2);
+}
+
+/**
+ * @brief Get field passkey from change_operator_control message
+ *
+ * @return Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
+ */
+static inline uint16_t mavlink_msg_change_operator_control_get_passkey(const mavlink_message_t* msg, char *passkey)
+{
+ return _MAV_RETURN_char_array(msg, passkey, 25, 3);
+}
+
+/**
+ * @brief Decode a change_operator_control message into a struct
+ *
+ * @param msg The message to decode
+ * @param change_operator_control C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_change_operator_control_decode(const mavlink_message_t* msg, mavlink_change_operator_control_t* change_operator_control)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ change_operator_control->target_system = mavlink_msg_change_operator_control_get_target_system(msg);
+ change_operator_control->control_request = mavlink_msg_change_operator_control_get_control_request(msg);
+ change_operator_control->version = mavlink_msg_change_operator_control_get_version(msg);
+ mavlink_msg_change_operator_control_get_passkey(msg, change_operator_control->passkey);
+#else
+ memcpy(change_operator_control, _MAV_PAYLOAD(msg), 28);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control_ack.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control_ack.h
new file mode 100644
index 0000000..1d89a0f
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control_ack.h
@@ -0,0 +1,188 @@
+// MESSAGE CHANGE_OPERATOR_CONTROL_ACK PACKING
+
+#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK 6
+
+typedef struct __mavlink_change_operator_control_ack_t
+{
+ uint8_t gcs_system_id; ///< ID of the GCS this message
+ uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV
+ uint8_t ack; ///< 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
+} mavlink_change_operator_control_ack_t;
+
+#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN 3
+#define MAVLINK_MSG_ID_6_LEN 3
+
+
+
+#define MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK { \
+ "CHANGE_OPERATOR_CONTROL_ACK", \
+ 3, \
+ { { "gcs_system_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_change_operator_control_ack_t, gcs_system_id) }, \
+ { "control_request", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_change_operator_control_ack_t, control_request) }, \
+ { "ack", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_change_operator_control_ack_t, ack) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a change_operator_control_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 gcs_system_id ID of the GCS this message
+ * @param control_request 0: request control of this MAV, 1: Release control of this MAV
+ * @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_change_operator_control_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t gcs_system_id, uint8_t control_request, uint8_t ack)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[3];
+ _mav_put_uint8_t(buf, 0, gcs_system_id);
+ _mav_put_uint8_t(buf, 1, control_request);
+ _mav_put_uint8_t(buf, 2, ack);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
+#else
+ mavlink_change_operator_control_ack_t packet;
+ packet.gcs_system_id = gcs_system_id;
+ packet.control_request = control_request;
+ packet.ack = ack;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
+ return mavlink_finalize_message(msg, system_id, component_id, 3, 104);
+}
+
+/**
+ * @brief Pack a change_operator_control_ack 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param gcs_system_id ID of the GCS this message
+ * @param control_request 0: request control of this MAV, 1: Release control of this MAV
+ * @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_change_operator_control_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t gcs_system_id,uint8_t control_request,uint8_t ack)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[3];
+ _mav_put_uint8_t(buf, 0, gcs_system_id);
+ _mav_put_uint8_t(buf, 1, control_request);
+ _mav_put_uint8_t(buf, 2, ack);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
+#else
+ mavlink_change_operator_control_ack_t packet;
+ packet.gcs_system_id = gcs_system_id;
+ packet.control_request = control_request;
+ packet.ack = ack;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 104);
+}
+
+/**
+ * @brief Encode a change_operator_control_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 change_operator_control_ack C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_change_operator_control_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_change_operator_control_ack_t* change_operator_control_ack)
+{
+ return mavlink_msg_change_operator_control_ack_pack(system_id, component_id, msg, change_operator_control_ack->gcs_system_id, change_operator_control_ack->control_request, change_operator_control_ack->ack);
+}
+
+/**
+ * @brief Send a change_operator_control_ack message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param gcs_system_id ID of the GCS this message
+ * @param control_request 0: request control of this MAV, 1: Release control of this MAV
+ * @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_change_operator_control_ack_send(mavlink_channel_t chan, uint8_t gcs_system_id, uint8_t control_request, uint8_t ack)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[3];
+ _mav_put_uint8_t(buf, 0, gcs_system_id);
+ _mav_put_uint8_t(buf, 1, control_request);
+ _mav_put_uint8_t(buf, 2, ack);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, buf, 3, 104);
+#else
+ mavlink_change_operator_control_ack_t packet;
+ packet.gcs_system_id = gcs_system_id;
+ packet.control_request = control_request;
+ packet.ack = ack;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, (const char *)&packet, 3, 104);
+#endif
+}
+
+#endif
+
+// MESSAGE CHANGE_OPERATOR_CONTROL_ACK UNPACKING
+
+
+/**
+ * @brief Get field gcs_system_id from change_operator_control_ack message
+ *
+ * @return ID of the GCS this message
+ */
+static inline uint8_t mavlink_msg_change_operator_control_ack_get_gcs_system_id(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 0);
+}
+
+/**
+ * @brief Get field control_request from change_operator_control_ack message
+ *
+ * @return 0: request control of this MAV, 1: Release control of this MAV
+ */
+static inline uint8_t mavlink_msg_change_operator_control_ack_get_control_request(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 1);
+}
+
+/**
+ * @brief Get field ack from change_operator_control_ack message
+ *
+ * @return 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
+ */
+static inline uint8_t mavlink_msg_change_operator_control_ack_get_ack(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 2);
+}
+
+/**
+ * @brief Decode a change_operator_control_ack message into a struct
+ *
+ * @param msg The message to decode
+ * @param change_operator_control_ack C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_change_operator_control_ack_decode(const mavlink_message_t* msg, mavlink_change_operator_control_ack_t* change_operator_control_ack)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ change_operator_control_ack->gcs_system_id = mavlink_msg_change_operator_control_ack_get_gcs_system_id(msg);
+ change_operator_control_ack->control_request = mavlink_msg_change_operator_control_ack_get_control_request(msg);
+ change_operator_control_ack->ack = mavlink_msg_change_operator_control_ack_get_ack(msg);
+#else
+ memcpy(change_operator_control_ack, _MAV_PAYLOAD(msg), 3);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_command_ack.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_command_ack.h
new file mode 100644
index 0000000..df6e9b9
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_command_ack.h
@@ -0,0 +1,166 @@
+// MESSAGE COMMAND_ACK PACKING
+
+#define MAVLINK_MSG_ID_COMMAND_ACK 77
+
+typedef struct __mavlink_command_ack_t
+{
+ uint16_t command; ///< Command ID, as defined by MAV_CMD enum.
+ uint8_t result; ///< See MAV_RESULT enum
+} mavlink_command_ack_t;
+
+#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 3
+#define MAVLINK_MSG_ID_77_LEN 3
+
+
+
+#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
+ "COMMAND_ACK", \
+ 2, \
+ { { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
+ { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a command_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 command Command ID, as defined by MAV_CMD enum.
+ * @param result See MAV_RESULT enum
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint16_t command, uint8_t result)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[3];
+ _mav_put_uint16_t(buf, 0, command);
+ _mav_put_uint8_t(buf, 2, result);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
+#else
+ mavlink_command_ack_t packet;
+ packet.command = command;
+ packet.result = result;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
+ return mavlink_finalize_message(msg, system_id, component_id, 3, 143);
+}
+
+/**
+ * @brief Pack a command_ack 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param command Command ID, as defined by MAV_CMD enum.
+ * @param result See MAV_RESULT enum
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint16_t command,uint8_t result)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[3];
+ _mav_put_uint16_t(buf, 0, command);
+ _mav_put_uint8_t(buf, 2, result);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
+#else
+ mavlink_command_ack_t packet;
+ packet.command = command;
+ packet.result = result;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 143);
+}
+
+/**
+ * @brief Encode a command_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 command_ack C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
+{
+ return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result);
+}
+
+/**
+ * @brief Send a command_ack message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param command Command ID, as defined by MAV_CMD enum.
+ * @param result See MAV_RESULT enum
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t result)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[3];
+ _mav_put_uint16_t(buf, 0, command);
+ _mav_put_uint8_t(buf, 2, result);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, 3, 143);
+#else
+ mavlink_command_ack_t packet;
+ packet.command = command;
+ packet.result = result;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, 3, 143);
+#endif
+}
+
+#endif
+
+// MESSAGE COMMAND_ACK UNPACKING
+
+
+/**
+ * @brief Get field command from command_ack message
+ *
+ * @return Command ID, as defined by MAV_CMD enum.
+ */
+static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 0);
+}
+
+/**
+ * @brief Get field result from command_ack message
+ *
+ * @return See MAV_RESULT enum
+ */
+static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 2);
+}
+
+/**
+ * @brief Decode a command_ack message into a struct
+ *
+ * @param msg The message to decode
+ * @param command_ack C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ command_ack->command = mavlink_msg_command_ack_get_command(msg);
+ command_ack->result = mavlink_msg_command_ack_get_result(msg);
+#else
+ memcpy(command_ack, _MAV_PAYLOAD(msg), 3);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_command_long.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_command_long.h
new file mode 100644
index 0000000..54ca77e
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_command_long.h
@@ -0,0 +1,364 @@
+// MESSAGE COMMAND_LONG PACKING
+
+#define MAVLINK_MSG_ID_COMMAND_LONG 76
+
+typedef struct __mavlink_command_long_t
+{
+ float param1; ///< Parameter 1, as defined by MAV_CMD enum.
+ float param2; ///< Parameter 2, as defined by MAV_CMD enum.
+ float param3; ///< Parameter 3, as defined by MAV_CMD enum.
+ float param4; ///< Parameter 4, as defined by MAV_CMD enum.
+ float param5; ///< Parameter 5, as defined by MAV_CMD enum.
+ float param6; ///< Parameter 6, as defined by MAV_CMD enum.
+ float param7; ///< Parameter 7, as defined by MAV_CMD enum.
+ uint16_t command; ///< Command ID, as defined by MAV_CMD enum.
+ uint8_t target_system; ///< System which should execute the command
+ uint8_t target_component; ///< Component which should execute the command, 0 for all components
+ uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
+} mavlink_command_long_t;
+
+#define MAVLINK_MSG_ID_COMMAND_LONG_LEN 33
+#define MAVLINK_MSG_ID_76_LEN 33
+
+
+
+#define MAVLINK_MESSAGE_INFO_COMMAND_LONG { \
+ "COMMAND_LONG", \
+ 11, \
+ { { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_long_t, param1) }, \
+ { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_long_t, param2) }, \
+ { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_long_t, param3) }, \
+ { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_long_t, param4) }, \
+ { "param5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_long_t, param5) }, \
+ { "param6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_command_long_t, param6) }, \
+ { "param7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_command_long_t, param7) }, \
+ { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_command_long_t, command) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_command_long_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_command_long_t, target_component) }, \
+ { "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_command_long_t, confirmation) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a command_long 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_system System which should execute the command
+ * @param target_component Component which should execute the command, 0 for all components
+ * @param command Command ID, as defined by MAV_CMD enum.
+ * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
+ * @param param1 Parameter 1, as defined by MAV_CMD enum.
+ * @param param2 Parameter 2, as defined by MAV_CMD enum.
+ * @param param3 Parameter 3, as defined by MAV_CMD enum.
+ * @param param4 Parameter 4, as defined by MAV_CMD enum.
+ * @param param5 Parameter 5, as defined by MAV_CMD enum.
+ * @param param6 Parameter 6, as defined by MAV_CMD enum.
+ * @param param7 Parameter 7, as defined by MAV_CMD enum.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_command_long_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[33];
+ _mav_put_float(buf, 0, param1);
+ _mav_put_float(buf, 4, param2);
+ _mav_put_float(buf, 8, param3);
+ _mav_put_float(buf, 12, param4);
+ _mav_put_float(buf, 16, param5);
+ _mav_put_float(buf, 20, param6);
+ _mav_put_float(buf, 24, param7);
+ _mav_put_uint16_t(buf, 28, command);
+ _mav_put_uint8_t(buf, 30, target_system);
+ _mav_put_uint8_t(buf, 31, target_component);
+ _mav_put_uint8_t(buf, 32, confirmation);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33);
+#else
+ mavlink_command_long_t packet;
+ packet.param1 = param1;
+ packet.param2 = param2;
+ packet.param3 = param3;
+ packet.param4 = param4;
+ packet.param5 = param5;
+ packet.param6 = param6;
+ packet.param7 = param7;
+ packet.command = command;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.confirmation = confirmation;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG;
+ return mavlink_finalize_message(msg, system_id, component_id, 33, 152);
+}
+
+/**
+ * @brief Pack a command_long 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System which should execute the command
+ * @param target_component Component which should execute the command, 0 for all components
+ * @param command Command ID, as defined by MAV_CMD enum.
+ * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
+ * @param param1 Parameter 1, as defined by MAV_CMD enum.
+ * @param param2 Parameter 2, as defined by MAV_CMD enum.
+ * @param param3 Parameter 3, as defined by MAV_CMD enum.
+ * @param param4 Parameter 4, as defined by MAV_CMD enum.
+ * @param param5 Parameter 5, as defined by MAV_CMD enum.
+ * @param param6 Parameter 6, as defined by MAV_CMD enum.
+ * @param param7 Parameter 7, as defined by MAV_CMD enum.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_command_long_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,uint16_t command,uint8_t confirmation,float param1,float param2,float param3,float param4,float param5,float param6,float param7)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[33];
+ _mav_put_float(buf, 0, param1);
+ _mav_put_float(buf, 4, param2);
+ _mav_put_float(buf, 8, param3);
+ _mav_put_float(buf, 12, param4);
+ _mav_put_float(buf, 16, param5);
+ _mav_put_float(buf, 20, param6);
+ _mav_put_float(buf, 24, param7);
+ _mav_put_uint16_t(buf, 28, command);
+ _mav_put_uint8_t(buf, 30, target_system);
+ _mav_put_uint8_t(buf, 31, target_component);
+ _mav_put_uint8_t(buf, 32, confirmation);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33);
+#else
+ mavlink_command_long_t packet;
+ packet.param1 = param1;
+ packet.param2 = param2;
+ packet.param3 = param3;
+ packet.param4 = param4;
+ packet.param5 = param5;
+ packet.param6 = param6;
+ packet.param7 = param7;
+ packet.command = command;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.confirmation = confirmation;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 33, 152);
+}
+
+/**
+ * @brief Encode a command_long 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 command_long C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_command_long_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_long_t* command_long)
+{
+ return mavlink_msg_command_long_pack(system_id, component_id, msg, command_long->target_system, command_long->target_component, command_long->command, command_long->confirmation, command_long->param1, command_long->param2, command_long->param3, command_long->param4, command_long->param5, command_long->param6, command_long->param7);
+}
+
+/**
+ * @brief Send a command_long message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System which should execute the command
+ * @param target_component Component which should execute the command, 0 for all components
+ * @param command Command ID, as defined by MAV_CMD enum.
+ * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
+ * @param param1 Parameter 1, as defined by MAV_CMD enum.
+ * @param param2 Parameter 2, as defined by MAV_CMD enum.
+ * @param param3 Parameter 3, as defined by MAV_CMD enum.
+ * @param param4 Parameter 4, as defined by MAV_CMD enum.
+ * @param param5 Parameter 5, as defined by MAV_CMD enum.
+ * @param param6 Parameter 6, as defined by MAV_CMD enum.
+ * @param param7 Parameter 7, as defined by MAV_CMD enum.
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_command_long_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[33];
+ _mav_put_float(buf, 0, param1);
+ _mav_put_float(buf, 4, param2);
+ _mav_put_float(buf, 8, param3);
+ _mav_put_float(buf, 12, param4);
+ _mav_put_float(buf, 16, param5);
+ _mav_put_float(buf, 20, param6);
+ _mav_put_float(buf, 24, param7);
+ _mav_put_uint16_t(buf, 28, command);
+ _mav_put_uint8_t(buf, 30, target_system);
+ _mav_put_uint8_t(buf, 31, target_component);
+ _mav_put_uint8_t(buf, 32, confirmation);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, 33, 152);
+#else
+ mavlink_command_long_t packet;
+ packet.param1 = param1;
+ packet.param2 = param2;
+ packet.param3 = param3;
+ packet.param4 = param4;
+ packet.param5 = param5;
+ packet.param6 = param6;
+ packet.param7 = param7;
+ packet.command = command;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.confirmation = confirmation;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)&packet, 33, 152);
+#endif
+}
+
+#endif
+
+// MESSAGE COMMAND_LONG UNPACKING
+
+
+/**
+ * @brief Get field target_system from command_long message
+ *
+ * @return System which should execute the command
+ */
+static inline uint8_t mavlink_msg_command_long_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 30);
+}
+
+/**
+ * @brief Get field target_component from command_long message
+ *
+ * @return Component which should execute the command, 0 for all components
+ */
+static inline uint8_t mavlink_msg_command_long_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 31);
+}
+
+/**
+ * @brief Get field command from command_long message
+ *
+ * @return Command ID, as defined by MAV_CMD enum.
+ */
+static inline uint16_t mavlink_msg_command_long_get_command(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 28);
+}
+
+/**
+ * @brief Get field confirmation from command_long message
+ *
+ * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
+ */
+static inline uint8_t mavlink_msg_command_long_get_confirmation(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 32);
+}
+
+/**
+ * @brief Get field param1 from command_long message
+ *
+ * @return Parameter 1, as defined by MAV_CMD enum.
+ */
+static inline float mavlink_msg_command_long_get_param1(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field param2 from command_long message
+ *
+ * @return Parameter 2, as defined by MAV_CMD enum.
+ */
+static inline float mavlink_msg_command_long_get_param2(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field param3 from command_long message
+ *
+ * @return Parameter 3, as defined by MAV_CMD enum.
+ */
+static inline float mavlink_msg_command_long_get_param3(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field param4 from command_long message
+ *
+ * @return Parameter 4, as defined by MAV_CMD enum.
+ */
+static inline float mavlink_msg_command_long_get_param4(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field param5 from command_long message
+ *
+ * @return Parameter 5, as defined by MAV_CMD enum.
+ */
+static inline float mavlink_msg_command_long_get_param5(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field param6 from command_long message
+ *
+ * @return Parameter 6, as defined by MAV_CMD enum.
+ */
+static inline float mavlink_msg_command_long_get_param6(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Get field param7 from command_long message
+ *
+ * @return Parameter 7, as defined by MAV_CMD enum.
+ */
+static inline float mavlink_msg_command_long_get_param7(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 24);
+}
+
+/**
+ * @brief Decode a command_long message into a struct
+ *
+ * @param msg The message to decode
+ * @param command_long C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_command_long_decode(const mavlink_message_t* msg, mavlink_command_long_t* command_long)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ command_long->param1 = mavlink_msg_command_long_get_param1(msg);
+ command_long->param2 = mavlink_msg_command_long_get_param2(msg);
+ command_long->param3 = mavlink_msg_command_long_get_param3(msg);
+ command_long->param4 = mavlink_msg_command_long_get_param4(msg);
+ command_long->param5 = mavlink_msg_command_long_get_param5(msg);
+ command_long->param6 = mavlink_msg_command_long_get_param6(msg);
+ command_long->param7 = mavlink_msg_command_long_get_param7(msg);
+ command_long->command = mavlink_msg_command_long_get_command(msg);
+ command_long->target_system = mavlink_msg_command_long_get_target_system(msg);
+ command_long->target_component = mavlink_msg_command_long_get_target_component(msg);
+ command_long->confirmation = mavlink_msg_command_long_get_confirmation(msg);
+#else
+ memcpy(command_long, _MAV_PAYLOAD(msg), 33);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_data_stream.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_data_stream.h
new file mode 100644
index 0000000..e5ec290
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_data_stream.h
@@ -0,0 +1,188 @@
+// MESSAGE DATA_STREAM PACKING
+
+#define MAVLINK_MSG_ID_DATA_STREAM 67
+
+typedef struct __mavlink_data_stream_t
+{
+ uint16_t message_rate; ///< The requested interval between two messages of this type
+ uint8_t stream_id; ///< The ID of the requested data stream
+ uint8_t on_off; ///< 1 stream is enabled, 0 stream is stopped.
+} mavlink_data_stream_t;
+
+#define MAVLINK_MSG_ID_DATA_STREAM_LEN 4
+#define MAVLINK_MSG_ID_67_LEN 4
+
+
+
+#define MAVLINK_MESSAGE_INFO_DATA_STREAM { \
+ "DATA_STREAM", \
+ 3, \
+ { { "message_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_data_stream_t, message_rate) }, \
+ { "stream_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_data_stream_t, stream_id) }, \
+ { "on_off", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_data_stream_t, on_off) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a data_stream 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 stream_id The ID of the requested data stream
+ * @param message_rate The requested interval between two messages of this type
+ * @param on_off 1 stream is enabled, 0 stream is stopped.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[4];
+ _mav_put_uint16_t(buf, 0, message_rate);
+ _mav_put_uint8_t(buf, 2, stream_id);
+ _mav_put_uint8_t(buf, 3, on_off);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
+#else
+ mavlink_data_stream_t packet;
+ packet.message_rate = message_rate;
+ packet.stream_id = stream_id;
+ packet.on_off = on_off;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
+ return mavlink_finalize_message(msg, system_id, component_id, 4, 21);
+}
+
+/**
+ * @brief Pack a data_stream 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param stream_id The ID of the requested data stream
+ * @param message_rate The requested interval between two messages of this type
+ * @param on_off 1 stream is enabled, 0 stream is stopped.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_data_stream_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t stream_id,uint16_t message_rate,uint8_t on_off)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[4];
+ _mav_put_uint16_t(buf, 0, message_rate);
+ _mav_put_uint8_t(buf, 2, stream_id);
+ _mav_put_uint8_t(buf, 3, on_off);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
+#else
+ mavlink_data_stream_t packet;
+ packet.message_rate = message_rate;
+ packet.stream_id = stream_id;
+ packet.on_off = on_off;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 21);
+}
+
+/**
+ * @brief Encode a data_stream 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 data_stream C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_data_stream_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_stream_t* data_stream)
+{
+ return mavlink_msg_data_stream_pack(system_id, component_id, msg, data_stream->stream_id, data_stream->message_rate, data_stream->on_off);
+}
+
+/**
+ * @brief Send a data_stream message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param stream_id The ID of the requested data stream
+ * @param message_rate The requested interval between two messages of this type
+ * @param on_off 1 stream is enabled, 0 stream is stopped.
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_data_stream_send(mavlink_channel_t chan, uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[4];
+ _mav_put_uint16_t(buf, 0, message_rate);
+ _mav_put_uint8_t(buf, 2, stream_id);
+ _mav_put_uint8_t(buf, 3, on_off);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, 4, 21);
+#else
+ mavlink_data_stream_t packet;
+ packet.message_rate = message_rate;
+ packet.stream_id = stream_id;
+ packet.on_off = on_off;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)&packet, 4, 21);
+#endif
+}
+
+#endif
+
+// MESSAGE DATA_STREAM UNPACKING
+
+
+/**
+ * @brief Get field stream_id from data_stream message
+ *
+ * @return The ID of the requested data stream
+ */
+static inline uint8_t mavlink_msg_data_stream_get_stream_id(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 2);
+}
+
+/**
+ * @brief Get field message_rate from data_stream message
+ *
+ * @return The requested interval between two messages of this type
+ */
+static inline uint16_t mavlink_msg_data_stream_get_message_rate(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 0);
+}
+
+/**
+ * @brief Get field on_off from data_stream message
+ *
+ * @return 1 stream is enabled, 0 stream is stopped.
+ */
+static inline uint8_t mavlink_msg_data_stream_get_on_off(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 3);
+}
+
+/**
+ * @brief Decode a data_stream message into a struct
+ *
+ * @param msg The message to decode
+ * @param data_stream C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_data_stream_decode(const mavlink_message_t* msg, mavlink_data_stream_t* data_stream)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ data_stream->message_rate = mavlink_msg_data_stream_get_message_rate(msg);
+ data_stream->stream_id = mavlink_msg_data_stream_get_stream_id(msg);
+ data_stream->on_off = mavlink_msg_data_stream_get_on_off(msg);
+#else
+ memcpy(data_stream, _MAV_PAYLOAD(msg), 4);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_debug.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_debug.h
new file mode 100644
index 0000000..5ff88e6
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_debug.h
@@ -0,0 +1,188 @@
+// MESSAGE DEBUG PACKING
+
+#define MAVLINK_MSG_ID_DEBUG 254
+
+typedef struct __mavlink_debug_t
+{
+ uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ float value; ///< DEBUG value
+ uint8_t ind; ///< index of debug variable
+} mavlink_debug_t;
+
+#define MAVLINK_MSG_ID_DEBUG_LEN 9
+#define MAVLINK_MSG_ID_254_LEN 9
+
+
+
+#define MAVLINK_MESSAGE_INFO_DEBUG { \
+ "DEBUG", \
+ 3, \
+ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_debug_t, time_boot_ms) }, \
+ { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_debug_t, value) }, \
+ { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_debug_t, ind) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a debug 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 time_boot_ms Timestamp (milliseconds since system boot)
+ * @param ind index of debug variable
+ * @param value DEBUG value
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint32_t time_boot_ms, uint8_t ind, float value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[9];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, value);
+ _mav_put_uint8_t(buf, 8, ind);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
+#else
+ mavlink_debug_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.value = value;
+ packet.ind = ind;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_DEBUG;
+ return mavlink_finalize_message(msg, system_id, component_id, 9, 46);
+}
+
+/**
+ * @brief Pack a debug 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param ind index of debug variable
+ * @param value DEBUG value
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint32_t time_boot_ms,uint8_t ind,float value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[9];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, value);
+ _mav_put_uint8_t(buf, 8, ind);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
+#else
+ mavlink_debug_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.value = value;
+ packet.ind = ind;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_DEBUG;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 46);
+}
+
+/**
+ * @brief Encode a debug 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 debug C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug)
+{
+ return mavlink_msg_debug_pack(system_id, component_id, msg, debug->time_boot_ms, debug->ind, debug->value);
+}
+
+/**
+ * @brief Send a debug message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param ind index of debug variable
+ * @param value DEBUG value
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t ind, float value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[9];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, value);
+ _mav_put_uint8_t(buf, 8, ind);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, 9, 46);
+#else
+ mavlink_debug_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.value = value;
+ packet.ind = ind;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, 9, 46);
+#endif
+}
+
+#endif
+
+// MESSAGE DEBUG UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from debug message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_debug_get_time_boot_ms(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field ind from debug message
+ *
+ * @return index of debug variable
+ */
+static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 8);
+}
+
+/**
+ * @brief Get field value from debug message
+ *
+ * @return DEBUG value
+ */
+static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Decode a debug message into a struct
+ *
+ * @param msg The message to decode
+ * @param debug C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ debug->time_boot_ms = mavlink_msg_debug_get_time_boot_ms(msg);
+ debug->value = mavlink_msg_debug_get_value(msg);
+ debug->ind = mavlink_msg_debug_get_ind(msg);
+#else
+ memcpy(debug, _MAV_PAYLOAD(msg), 9);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_debug_vect.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_debug_vect.h
new file mode 100644
index 0000000..0b443a0
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_debug_vect.h
@@ -0,0 +1,226 @@
+// MESSAGE DEBUG_VECT PACKING
+
+#define MAVLINK_MSG_ID_DEBUG_VECT 250
+
+typedef struct __mavlink_debug_vect_t
+{
+ uint64_t time_usec; ///< Timestamp
+ float x; ///< x
+ float y; ///< y
+ float z; ///< z
+ char name[10]; ///< Name
+} mavlink_debug_vect_t;
+
+#define MAVLINK_MSG_ID_DEBUG_VECT_LEN 30
+#define MAVLINK_MSG_ID_250_LEN 30
+
+#define MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN 10
+
+#define MAVLINK_MESSAGE_INFO_DEBUG_VECT { \
+ "DEBUG_VECT", \
+ 5, \
+ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_debug_vect_t, time_usec) }, \
+ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_debug_vect_t, x) }, \
+ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_debug_vect_t, y) }, \
+ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_debug_vect_t, z) }, \
+ { "name", NULL, MAVLINK_TYPE_CHAR, 10, 20, offsetof(mavlink_debug_vect_t, name) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a debug_vect 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 name Name
+ * @param time_usec Timestamp
+ * @param x x
+ * @param y y
+ * @param z z
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ const char *name, uint64_t time_usec, float x, float y, float z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[30];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_float(buf, 8, x);
+ _mav_put_float(buf, 12, y);
+ _mav_put_float(buf, 16, z);
+ _mav_put_char_array(buf, 20, name, 10);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 30);
+#else
+ mavlink_debug_vect_t packet;
+ packet.time_usec = time_usec;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ mav_array_memcpy(packet.name, name, sizeof(char)*10);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 30);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
+ return mavlink_finalize_message(msg, system_id, component_id, 30, 49);
+}
+
+/**
+ * @brief Pack a debug_vect 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param name Name
+ * @param time_usec Timestamp
+ * @param x x
+ * @param y y
+ * @param z z
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ const char *name,uint64_t time_usec,float x,float y,float z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[30];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_float(buf, 8, x);
+ _mav_put_float(buf, 12, y);
+ _mav_put_float(buf, 16, z);
+ _mav_put_char_array(buf, 20, name, 10);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 30);
+#else
+ mavlink_debug_vect_t packet;
+ packet.time_usec = time_usec;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ mav_array_memcpy(packet.name, name, sizeof(char)*10);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 30);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 30, 49);
+}
+
+/**
+ * @brief Encode a debug_vect 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 debug_vect C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_vect_t* debug_vect)
+{
+ return mavlink_msg_debug_vect_pack(system_id, component_id, msg, debug_vect->name, debug_vect->time_usec, debug_vect->x, debug_vect->y, debug_vect->z);
+}
+
+/**
+ * @brief Send a debug_vect message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param name Name
+ * @param time_usec Timestamp
+ * @param x x
+ * @param y y
+ * @param z z
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const char *name, uint64_t time_usec, float x, float y, float z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[30];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_float(buf, 8, x);
+ _mav_put_float(buf, 12, y);
+ _mav_put_float(buf, 16, z);
+ _mav_put_char_array(buf, 20, name, 10);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, 30, 49);
+#else
+ mavlink_debug_vect_t packet;
+ packet.time_usec = time_usec;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ mav_array_memcpy(packet.name, name, sizeof(char)*10);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)&packet, 30, 49);
+#endif
+}
+
+#endif
+
+// MESSAGE DEBUG_VECT UNPACKING
+
+
+/**
+ * @brief Get field name from debug_vect message
+ *
+ * @return Name
+ */
+static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char *name)
+{
+ return _MAV_RETURN_char_array(msg, name, 10, 20);
+}
+
+/**
+ * @brief Get field time_usec from debug_vect message
+ *
+ * @return Timestamp
+ */
+static inline uint64_t mavlink_msg_debug_vect_get_time_usec(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint64_t(msg, 0);
+}
+
+/**
+ * @brief Get field x from debug_vect message
+ *
+ * @return x
+ */
+static inline float mavlink_msg_debug_vect_get_x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field y from debug_vect message
+ *
+ * @return y
+ */
+static inline float mavlink_msg_debug_vect_get_y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field z from debug_vect message
+ *
+ * @return z
+ */
+static inline float mavlink_msg_debug_vect_get_z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Decode a debug_vect message into a struct
+ *
+ * @param msg The message to decode
+ * @param debug_vect C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_debug_vect_decode(const mavlink_message_t* msg, mavlink_debug_vect_t* debug_vect)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ debug_vect->time_usec = mavlink_msg_debug_vect_get_time_usec(msg);
+ debug_vect->x = mavlink_msg_debug_vect_get_x(msg);
+ debug_vect->y = mavlink_msg_debug_vect_get_y(msg);
+ debug_vect->z = mavlink_msg_debug_vect_get_z(msg);
+ mavlink_msg_debug_vect_get_name(msg, debug_vect->name);
+#else
+ memcpy(debug_vect, _MAV_PAYLOAD(msg), 30);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_global_position_int.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_global_position_int.h
new file mode 100644
index 0000000..780f562
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_global_position_int.h
@@ -0,0 +1,320 @@
+// MESSAGE GLOBAL_POSITION_INT PACKING
+
+#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 33
+
+typedef struct __mavlink_global_position_int_t
+{
+ uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ int32_t lat; ///< Latitude, expressed as * 1E7
+ int32_t lon; ///< Longitude, expressed as * 1E7
+ int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters), above MSL
+ int32_t relative_alt; ///< Altitude above ground in meters, expressed as * 1000 (millimeters)
+ int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
+ int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
+ int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
+ uint16_t hdg; ///< Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
+} mavlink_global_position_int_t;
+
+#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 28
+#define MAVLINK_MSG_ID_33_LEN 28
+
+
+
+#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
+ "GLOBAL_POSITION_INT", \
+ 9, \
+ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
+ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
+ { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
+ { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
+ { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
+ { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
+ { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
+ { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
+ { "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a global_position_int 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 time_boot_ms Timestamp (milliseconds since system boot)
+ * @param lat Latitude, expressed as * 1E7
+ * @param lon Longitude, expressed as * 1E7
+ * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
+ * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @param vx Ground X Speed (Latitude), expressed as m/s * 100
+ * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
+ * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
+ * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_int32_t(buf, 4, lat);
+ _mav_put_int32_t(buf, 8, lon);
+ _mav_put_int32_t(buf, 12, alt);
+ _mav_put_int32_t(buf, 16, relative_alt);
+ _mav_put_int16_t(buf, 20, vx);
+ _mav_put_int16_t(buf, 22, vy);
+ _mav_put_int16_t(buf, 24, vz);
+ _mav_put_uint16_t(buf, 26, hdg);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+ mavlink_global_position_int_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.lat = lat;
+ packet.lon = lon;
+ packet.alt = alt;
+ packet.relative_alt = relative_alt;
+ packet.vx = vx;
+ packet.vy = vy;
+ packet.vz = vz;
+ packet.hdg = hdg;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
+ return mavlink_finalize_message(msg, system_id, component_id, 28, 104);
+}
+
+/**
+ * @brief Pack a global_position_int 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param lat Latitude, expressed as * 1E7
+ * @param lon Longitude, expressed as * 1E7
+ * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
+ * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @param vx Ground X Speed (Latitude), expressed as m/s * 100
+ * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
+ * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
+ * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint32_t time_boot_ms,int32_t lat,int32_t lon,int32_t alt,int32_t relative_alt,int16_t vx,int16_t vy,int16_t vz,uint16_t hdg)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_int32_t(buf, 4, lat);
+ _mav_put_int32_t(buf, 8, lon);
+ _mav_put_int32_t(buf, 12, alt);
+ _mav_put_int32_t(buf, 16, relative_alt);
+ _mav_put_int16_t(buf, 20, vx);
+ _mav_put_int16_t(buf, 22, vy);
+ _mav_put_int16_t(buf, 24, vz);
+ _mav_put_uint16_t(buf, 26, hdg);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+ mavlink_global_position_int_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.lat = lat;
+ packet.lon = lon;
+ packet.alt = alt;
+ packet.relative_alt = relative_alt;
+ packet.vx = vx;
+ packet.vy = vy;
+ packet.vz = vz;
+ packet.hdg = hdg;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 104);
+}
+
+/**
+ * @brief Encode a global_position_int 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 global_position_int C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
+{
+ return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
+}
+
+/**
+ * @brief Send a global_position_int message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param lat Latitude, expressed as * 1E7
+ * @param lon Longitude, expressed as * 1E7
+ * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
+ * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @param vx Ground X Speed (Latitude), expressed as m/s * 100
+ * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
+ * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
+ * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_int32_t(buf, 4, lat);
+ _mav_put_int32_t(buf, 8, lon);
+ _mav_put_int32_t(buf, 12, alt);
+ _mav_put_int32_t(buf, 16, relative_alt);
+ _mav_put_int16_t(buf, 20, vx);
+ _mav_put_int16_t(buf, 22, vy);
+ _mav_put_int16_t(buf, 24, vz);
+ _mav_put_uint16_t(buf, 26, hdg);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, 28, 104);
+#else
+ mavlink_global_position_int_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.lat = lat;
+ packet.lon = lon;
+ packet.alt = alt;
+ packet.relative_alt = relative_alt;
+ packet.vx = vx;
+ packet.vy = vy;
+ packet.vz = vz;
+ packet.hdg = hdg;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, 28, 104);
+#endif
+}
+
+#endif
+
+// MESSAGE GLOBAL_POSITION_INT UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from global_position_int message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_global_position_int_get_time_boot_ms(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field lat from global_position_int message
+ *
+ * @return Latitude, expressed as * 1E7
+ */
+static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 4);
+}
+
+/**
+ * @brief Get field lon from global_position_int message
+ *
+ * @return Longitude, expressed as * 1E7
+ */
+static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 8);
+}
+
+/**
+ * @brief Get field alt from global_position_int message
+ *
+ * @return Altitude in meters, expressed as * 1000 (millimeters), above MSL
+ */
+static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 12);
+}
+
+/**
+ * @brief Get field relative_alt from global_position_int message
+ *
+ * @return Altitude above ground in meters, expressed as * 1000 (millimeters)
+ */
+static inline int32_t mavlink_msg_global_position_int_get_relative_alt(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 16);
+}
+
+/**
+ * @brief Get field vx from global_position_int message
+ *
+ * @return Ground X Speed (Latitude), expressed as m/s * 100
+ */
+static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 20);
+}
+
+/**
+ * @brief Get field vy from global_position_int message
+ *
+ * @return Ground Y Speed (Longitude), expressed as m/s * 100
+ */
+static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 22);
+}
+
+/**
+ * @brief Get field vz from global_position_int message
+ *
+ * @return Ground Z Speed (Altitude), expressed as m/s * 100
+ */
+static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 24);
+}
+
+/**
+ * @brief Get field hdg from global_position_int message
+ *
+ * @return Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
+ */
+static inline uint16_t mavlink_msg_global_position_int_get_hdg(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 26);
+}
+
+/**
+ * @brief Decode a global_position_int message into a struct
+ *
+ * @param msg The message to decode
+ * @param global_position_int C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ global_position_int->time_boot_ms = mavlink_msg_global_position_int_get_time_boot_ms(msg);
+ global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg);
+ global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg);
+ global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg);
+ global_position_int->relative_alt = mavlink_msg_global_position_int_get_relative_alt(msg);
+ global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg);
+ global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg);
+ global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg);
+ global_position_int->hdg = mavlink_msg_global_position_int_get_hdg(msg);
+#else
+ memcpy(global_position_int, _MAV_PAYLOAD(msg), 28);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_int.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_int.h
new file mode 100644
index 0000000..853b85d
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_int.h
@@ -0,0 +1,232 @@
+// MESSAGE GLOBAL_POSITION_SETPOINT_INT PACKING
+
+#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT 52
+
+typedef struct __mavlink_global_position_setpoint_int_t
+{
+ int32_t latitude; ///< WGS84 Latitude position in degrees * 1E7
+ int32_t longitude; ///< WGS84 Longitude position in degrees * 1E7
+ int32_t altitude; ///< WGS84 Altitude in meters * 1000 (positive for up)
+ int16_t yaw; ///< Desired yaw angle in degrees * 100
+ uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
+} mavlink_global_position_setpoint_int_t;
+
+#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN 15
+#define MAVLINK_MSG_ID_52_LEN 15
+
+
+
+#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT { \
+ "GLOBAL_POSITION_SETPOINT_INT", \
+ 5, \
+ { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_global_position_setpoint_int_t, latitude) }, \
+ { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_setpoint_int_t, longitude) }, \
+ { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_setpoint_int_t, altitude) }, \
+ { "yaw", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_global_position_setpoint_int_t, yaw) }, \
+ { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_global_position_setpoint_int_t, coordinate_frame) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a global_position_setpoint_int 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 coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
+ * @param latitude WGS84 Latitude position in degrees * 1E7
+ * @param longitude WGS84 Longitude position in degrees * 1E7
+ * @param altitude WGS84 Altitude in meters * 1000 (positive for up)
+ * @param yaw Desired yaw angle in degrees * 100
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_global_position_setpoint_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[15];
+ _mav_put_int32_t(buf, 0, latitude);
+ _mav_put_int32_t(buf, 4, longitude);
+ _mav_put_int32_t(buf, 8, altitude);
+ _mav_put_int16_t(buf, 12, yaw);
+ _mav_put_uint8_t(buf, 14, coordinate_frame);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15);
+#else
+ mavlink_global_position_setpoint_int_t packet;
+ packet.latitude = latitude;
+ packet.longitude = longitude;
+ packet.altitude = altitude;
+ packet.yaw = yaw;
+ packet.coordinate_frame = coordinate_frame;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
+ return mavlink_finalize_message(msg, system_id, component_id, 15, 141);
+}
+
+/**
+ * @brief Pack a global_position_setpoint_int 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
+ * @param latitude WGS84 Latitude position in degrees * 1E7
+ * @param longitude WGS84 Longitude position in degrees * 1E7
+ * @param altitude WGS84 Altitude in meters * 1000 (positive for up)
+ * @param yaw Desired yaw angle in degrees * 100
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_global_position_setpoint_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t coordinate_frame,int32_t latitude,int32_t longitude,int32_t altitude,int16_t yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[15];
+ _mav_put_int32_t(buf, 0, latitude);
+ _mav_put_int32_t(buf, 4, longitude);
+ _mav_put_int32_t(buf, 8, altitude);
+ _mav_put_int16_t(buf, 12, yaw);
+ _mav_put_uint8_t(buf, 14, coordinate_frame);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15);
+#else
+ mavlink_global_position_setpoint_int_t packet;
+ packet.latitude = latitude;
+ packet.longitude = longitude;
+ packet.altitude = altitude;
+ packet.yaw = yaw;
+ packet.coordinate_frame = coordinate_frame;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 15, 141);
+}
+
+/**
+ * @brief Encode a global_position_setpoint_int 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 global_position_setpoint_int C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_global_position_setpoint_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_setpoint_int_t* global_position_setpoint_int)
+{
+ return mavlink_msg_global_position_setpoint_int_pack(system_id, component_id, msg, global_position_setpoint_int->coordinate_frame, global_position_setpoint_int->latitude, global_position_setpoint_int->longitude, global_position_setpoint_int->altitude, global_position_setpoint_int->yaw);
+}
+
+/**
+ * @brief Send a global_position_setpoint_int message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
+ * @param latitude WGS84 Latitude position in degrees * 1E7
+ * @param longitude WGS84 Longitude position in degrees * 1E7
+ * @param altitude WGS84 Altitude in meters * 1000 (positive for up)
+ * @param yaw Desired yaw angle in degrees * 100
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_global_position_setpoint_int_send(mavlink_channel_t chan, uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[15];
+ _mav_put_int32_t(buf, 0, latitude);
+ _mav_put_int32_t(buf, 4, longitude);
+ _mav_put_int32_t(buf, 8, altitude);
+ _mav_put_int16_t(buf, 12, yaw);
+ _mav_put_uint8_t(buf, 14, coordinate_frame);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, buf, 15, 141);
+#else
+ mavlink_global_position_setpoint_int_t packet;
+ packet.latitude = latitude;
+ packet.longitude = longitude;
+ packet.altitude = altitude;
+ packet.yaw = yaw;
+ packet.coordinate_frame = coordinate_frame;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, (const char *)&packet, 15, 141);
+#endif
+}
+
+#endif
+
+// MESSAGE GLOBAL_POSITION_SETPOINT_INT UNPACKING
+
+
+/**
+ * @brief Get field coordinate_frame from global_position_setpoint_int message
+ *
+ * @return Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
+ */
+static inline uint8_t mavlink_msg_global_position_setpoint_int_get_coordinate_frame(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 14);
+}
+
+/**
+ * @brief Get field latitude from global_position_setpoint_int message
+ *
+ * @return WGS84 Latitude position in degrees * 1E7
+ */
+static inline int32_t mavlink_msg_global_position_setpoint_int_get_latitude(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 0);
+}
+
+/**
+ * @brief Get field longitude from global_position_setpoint_int message
+ *
+ * @return WGS84 Longitude position in degrees * 1E7
+ */
+static inline int32_t mavlink_msg_global_position_setpoint_int_get_longitude(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 4);
+}
+
+/**
+ * @brief Get field altitude from global_position_setpoint_int message
+ *
+ * @return WGS84 Altitude in meters * 1000 (positive for up)
+ */
+static inline int32_t mavlink_msg_global_position_setpoint_int_get_altitude(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 8);
+}
+
+/**
+ * @brief Get field yaw from global_position_setpoint_int message
+ *
+ * @return Desired yaw angle in degrees * 100
+ */
+static inline int16_t mavlink_msg_global_position_setpoint_int_get_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 12);
+}
+
+/**
+ * @brief Decode a global_position_setpoint_int message into a struct
+ *
+ * @param msg The message to decode
+ * @param global_position_setpoint_int C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_global_position_setpoint_int_decode(const mavlink_message_t* msg, mavlink_global_position_setpoint_int_t* global_position_setpoint_int)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ global_position_setpoint_int->latitude = mavlink_msg_global_position_setpoint_int_get_latitude(msg);
+ global_position_setpoint_int->longitude = mavlink_msg_global_position_setpoint_int_get_longitude(msg);
+ global_position_setpoint_int->altitude = mavlink_msg_global_position_setpoint_int_get_altitude(msg);
+ global_position_setpoint_int->yaw = mavlink_msg_global_position_setpoint_int_get_yaw(msg);
+ global_position_setpoint_int->coordinate_frame = mavlink_msg_global_position_setpoint_int_get_coordinate_frame(msg);
+#else
+ memcpy(global_position_setpoint_int, _MAV_PAYLOAD(msg), 15);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h
new file mode 100644
index 0000000..e461770
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h
@@ -0,0 +1,276 @@
+// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE PACKING
+
+#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE 101
+
+typedef struct __mavlink_global_vision_position_estimate_t
+{
+ uint64_t usec; ///< Timestamp (milliseconds)
+ float x; ///< Global X position
+ float y; ///< Global Y position
+ float z; ///< Global Z position
+ float roll; ///< Roll angle in rad
+ float pitch; ///< Pitch angle in rad
+ float yaw; ///< Yaw angle in rad
+} mavlink_global_vision_position_estimate_t;
+
+#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN 32
+#define MAVLINK_MSG_ID_101_LEN 32
+
+
+
+#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
+ "GLOBAL_VISION_POSITION_ESTIMATE", \
+ 7, \
+ { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_vision_position_estimate_t, usec) }, \
+ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_vision_position_estimate_t, x) }, \
+ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_vision_position_estimate_t, y) }, \
+ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_vision_position_estimate_t, z) }, \
+ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_vision_position_estimate_t, roll) }, \
+ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_vision_position_estimate_t, pitch) }, \
+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_vision_position_estimate_t, yaw) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a global_vision_position_estimate 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 usec Timestamp (milliseconds)
+ * @param x Global X position
+ * @param y Global Y position
+ * @param z Global Z position
+ * @param roll Roll angle in rad
+ * @param pitch Pitch angle in rad
+ * @param yaw Yaw angle in rad
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[32];
+ _mav_put_uint64_t(buf, 0, usec);
+ _mav_put_float(buf, 8, x);
+ _mav_put_float(buf, 12, y);
+ _mav_put_float(buf, 16, z);
+ _mav_put_float(buf, 20, roll);
+ _mav_put_float(buf, 24, pitch);
+ _mav_put_float(buf, 28, yaw);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
+#else
+ mavlink_global_vision_position_estimate_t packet;
+ packet.usec = usec;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
+ return mavlink_finalize_message(msg, system_id, component_id, 32, 102);
+}
+
+/**
+ * @brief Pack a global_vision_position_estimate 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X position
+ * @param y Global Y position
+ * @param z Global Z position
+ * @param roll Roll angle in rad
+ * @param pitch Pitch angle in rad
+ * @param yaw Yaw angle in rad
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[32];
+ _mav_put_uint64_t(buf, 0, usec);
+ _mav_put_float(buf, 8, x);
+ _mav_put_float(buf, 12, y);
+ _mav_put_float(buf, 16, z);
+ _mav_put_float(buf, 20, roll);
+ _mav_put_float(buf, 24, pitch);
+ _mav_put_float(buf, 28, yaw);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
+#else
+ mavlink_global_vision_position_estimate_t packet;
+ packet.usec = usec;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 102);
+}
+
+/**
+ * @brief Encode a global_vision_position_estimate 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 global_vision_position_estimate C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_global_vision_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
+{
+ return mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw);
+}
+
+/**
+ * @brief Send a global_vision_position_estimate message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X position
+ * @param y Global Y position
+ * @param z Global Z position
+ * @param roll Roll angle in rad
+ * @param pitch Pitch angle in rad
+ * @param yaw Yaw angle in rad
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[32];
+ _mav_put_uint64_t(buf, 0, usec);
+ _mav_put_float(buf, 8, x);
+ _mav_put_float(buf, 12, y);
+ _mav_put_float(buf, 16, z);
+ _mav_put_float(buf, 20, roll);
+ _mav_put_float(buf, 24, pitch);
+ _mav_put_float(buf, 28, yaw);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, 32, 102);
+#else
+ mavlink_global_vision_position_estimate_t packet;
+ packet.usec = usec;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)&packet, 32, 102);
+#endif
+}
+
+#endif
+
+// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE UNPACKING
+
+
+/**
+ * @brief Get field usec from global_vision_position_estimate message
+ *
+ * @return Timestamp (milliseconds)
+ */
+static inline uint64_t mavlink_msg_global_vision_position_estimate_get_usec(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint64_t(msg, 0);
+}
+
+/**
+ * @brief Get field x from global_vision_position_estimate message
+ *
+ * @return Global X position
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field y from global_vision_position_estimate message
+ *
+ * @return Global Y position
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field z from global_vision_position_estimate message
+ *
+ * @return Global Z position
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field roll from global_vision_position_estimate message
+ *
+ * @return Roll angle in rad
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_roll(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Get field pitch from global_vision_position_estimate message
+ *
+ * @return Pitch angle in rad
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_pitch(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 24);
+}
+
+/**
+ * @brief Get field yaw from global_vision_position_estimate message
+ *
+ * @return Yaw angle in rad
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 28);
+}
+
+/**
+ * @brief Decode a global_vision_position_estimate message into a struct
+ *
+ * @param msg The message to decode
+ * @param global_vision_position_estimate C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_global_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ global_vision_position_estimate->usec = mavlink_msg_global_vision_position_estimate_get_usec(msg);
+ global_vision_position_estimate->x = mavlink_msg_global_vision_position_estimate_get_x(msg);
+ global_vision_position_estimate->y = mavlink_msg_global_vision_position_estimate_get_y(msg);
+ global_vision_position_estimate->z = mavlink_msg_global_vision_position_estimate_get_z(msg);
+ global_vision_position_estimate->roll = mavlink_msg_global_vision_position_estimate_get_roll(msg);
+ global_vision_position_estimate->pitch = mavlink_msg_global_vision_position_estimate_get_pitch(msg);
+ global_vision_position_estimate->yaw = mavlink_msg_global_vision_position_estimate_get_yaw(msg);
+#else
+ memcpy(global_vision_position_estimate, _MAV_PAYLOAD(msg), 32);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h
new file mode 100644
index 0000000..2084718
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h
@@ -0,0 +1,188 @@
+// MESSAGE GPS_GLOBAL_ORIGIN PACKING
+
+#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN 49
+
+typedef struct __mavlink_gps_global_origin_t
+{
+ int32_t latitude; ///< Latitude (WGS84), expressed as * 1E7
+ int32_t longitude; ///< Longitude (WGS84), expressed as * 1E7
+ int32_t altitude; ///< Altitude(WGS84), expressed as * 1000
+} mavlink_gps_global_origin_t;
+
+#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN 12
+#define MAVLINK_MSG_ID_49_LEN 12
+
+
+
+#define MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN { \
+ "GPS_GLOBAL_ORIGIN", \
+ 3, \
+ { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_global_origin_t, latitude) }, \
+ { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_global_origin_t, longitude) }, \
+ { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_global_origin_t, altitude) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a gps_global_origin 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 latitude Latitude (WGS84), expressed as * 1E7
+ * @param longitude Longitude (WGS84), expressed as * 1E7
+ * @param altitude Altitude(WGS84), expressed as * 1000
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_gps_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ int32_t latitude, int32_t longitude, int32_t altitude)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[12];
+ _mav_put_int32_t(buf, 0, latitude);
+ _mav_put_int32_t(buf, 4, longitude);
+ _mav_put_int32_t(buf, 8, altitude);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
+#else
+ mavlink_gps_global_origin_t packet;
+ packet.latitude = latitude;
+ packet.longitude = longitude;
+ packet.altitude = altitude;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
+ return mavlink_finalize_message(msg, system_id, component_id, 12, 39);
+}
+
+/**
+ * @brief Pack a gps_global_origin 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param latitude Latitude (WGS84), expressed as * 1E7
+ * @param longitude Longitude (WGS84), expressed as * 1E7
+ * @param altitude Altitude(WGS84), expressed as * 1000
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_gps_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ int32_t latitude,int32_t longitude,int32_t altitude)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[12];
+ _mav_put_int32_t(buf, 0, latitude);
+ _mav_put_int32_t(buf, 4, longitude);
+ _mav_put_int32_t(buf, 8, altitude);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
+#else
+ mavlink_gps_global_origin_t packet;
+ packet.latitude = latitude;
+ packet.longitude = longitude;
+ packet.altitude = altitude;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 39);
+}
+
+/**
+ * @brief Encode a gps_global_origin 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 gps_global_origin C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_gps_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_global_origin_t* gps_global_origin)
+{
+ return mavlink_msg_gps_global_origin_pack(system_id, component_id, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude);
+}
+
+/**
+ * @brief Send a gps_global_origin message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param latitude Latitude (WGS84), expressed as * 1E7
+ * @param longitude Longitude (WGS84), expressed as * 1E7
+ * @param altitude Altitude(WGS84), expressed as * 1000
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_gps_global_origin_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[12];
+ _mav_put_int32_t(buf, 0, latitude);
+ _mav_put_int32_t(buf, 4, longitude);
+ _mav_put_int32_t(buf, 8, altitude);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, 12, 39);
+#else
+ mavlink_gps_global_origin_t packet;
+ packet.latitude = latitude;
+ packet.longitude = longitude;
+ packet.altitude = altitude;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)&packet, 12, 39);
+#endif
+}
+
+#endif
+
+// MESSAGE GPS_GLOBAL_ORIGIN UNPACKING
+
+
+/**
+ * @brief Get field latitude from gps_global_origin message
+ *
+ * @return Latitude (WGS84), expressed as * 1E7
+ */
+static inline int32_t mavlink_msg_gps_global_origin_get_latitude(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 0);
+}
+
+/**
+ * @brief Get field longitude from gps_global_origin message
+ *
+ * @return Longitude (WGS84), expressed as * 1E7
+ */
+static inline int32_t mavlink_msg_gps_global_origin_get_longitude(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 4);
+}
+
+/**
+ * @brief Get field altitude from gps_global_origin message
+ *
+ * @return Altitude(WGS84), expressed as * 1000
+ */
+static inline int32_t mavlink_msg_gps_global_origin_get_altitude(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 8);
+}
+
+/**
+ * @brief Decode a gps_global_origin message into a struct
+ *
+ * @param msg The message to decode
+ * @param gps_global_origin C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_gps_global_origin_decode(const mavlink_message_t* msg, mavlink_gps_global_origin_t* gps_global_origin)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ gps_global_origin->latitude = mavlink_msg_gps_global_origin_get_latitude(msg);
+ gps_global_origin->longitude = mavlink_msg_gps_global_origin_get_longitude(msg);
+ gps_global_origin->altitude = mavlink_msg_gps_global_origin_get_altitude(msg);
+#else
+ memcpy(gps_global_origin, _MAV_PAYLOAD(msg), 12);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h
new file mode 100644
index 0000000..57ec973
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h
@@ -0,0 +1,342 @@
+// MESSAGE GPS_RAW_INT PACKING
+
+#define MAVLINK_MSG_ID_GPS_RAW_INT 24
+
+typedef struct __mavlink_gps_raw_int_t
+{
+ uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ int32_t lat; ///< Latitude in 1E7 degrees
+ int32_t lon; ///< Longitude in 1E7 degrees
+ int32_t alt; ///< Altitude in 1E3 meters (millimeters) above MSL
+ uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
+ uint16_t epv; ///< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
+ uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: 65535
+ uint16_t cog; ///< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
+ uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+ uint8_t satellites_visible; ///< Number of satellites visible. If unknown, set to 255
+} mavlink_gps_raw_int_t;
+
+#define MAVLINK_MSG_ID_GPS_RAW_INT_LEN 30
+#define MAVLINK_MSG_ID_24_LEN 30
+
+
+
+#define MAVLINK_MESSAGE_INFO_GPS_RAW_INT { \
+ "GPS_RAW_INT", \
+ 10, \
+ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_int_t, time_usec) }, \
+ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_raw_int_t, lat) }, \
+ { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_raw_int_t, lon) }, \
+ { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_raw_int_t, alt) }, \
+ { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_gps_raw_int_t, eph) }, \
+ { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_gps_raw_int_t, epv) }, \
+ { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps_raw_int_t, vel) }, \
+ { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps_raw_int_t, cog) }, \
+ { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_gps_raw_int_t, fix_type) }, \
+ { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_gps_raw_int_t, satellites_visible) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a gps_raw_int 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+ * @param lat Latitude in 1E7 degrees
+ * @param lon Longitude in 1E7 degrees
+ * @param alt Altitude in 1E3 meters (millimeters) above MSL
+ * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
+ * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
+ * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
+ * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
+ * @param satellites_visible Number of satellites visible. If unknown, set to 255
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[30];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_int32_t(buf, 8, lat);
+ _mav_put_int32_t(buf, 12, lon);
+ _mav_put_int32_t(buf, 16, alt);
+ _mav_put_uint16_t(buf, 20, eph);
+ _mav_put_uint16_t(buf, 22, epv);
+ _mav_put_uint16_t(buf, 24, vel);
+ _mav_put_uint16_t(buf, 26, cog);
+ _mav_put_uint8_t(buf, 28, fix_type);
+ _mav_put_uint8_t(buf, 29, satellites_visible);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 30);
+#else
+ mavlink_gps_raw_int_t packet;
+ packet.time_usec = time_usec;
+ packet.lat = lat;
+ packet.lon = lon;
+ packet.alt = alt;
+ packet.eph = eph;
+ packet.epv = epv;
+ packet.vel = vel;
+ packet.cog = cog;
+ packet.fix_type = fix_type;
+ packet.satellites_visible = satellites_visible;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 30);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
+ return mavlink_finalize_message(msg, system_id, component_id, 30, 24);
+}
+
+/**
+ * @brief Pack a gps_raw_int 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+ * @param lat Latitude in 1E7 degrees
+ * @param lon Longitude in 1E7 degrees
+ * @param alt Altitude in 1E3 meters (millimeters) above MSL
+ * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
+ * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
+ * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
+ * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
+ * @param satellites_visible Number of satellites visible. If unknown, set to 255
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_gps_raw_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint64_t time_usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,uint16_t eph,uint16_t epv,uint16_t vel,uint16_t cog,uint8_t satellites_visible)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[30];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_int32_t(buf, 8, lat);
+ _mav_put_int32_t(buf, 12, lon);
+ _mav_put_int32_t(buf, 16, alt);
+ _mav_put_uint16_t(buf, 20, eph);
+ _mav_put_uint16_t(buf, 22, epv);
+ _mav_put_uint16_t(buf, 24, vel);
+ _mav_put_uint16_t(buf, 26, cog);
+ _mav_put_uint8_t(buf, 28, fix_type);
+ _mav_put_uint8_t(buf, 29, satellites_visible);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 30);
+#else
+ mavlink_gps_raw_int_t packet;
+ packet.time_usec = time_usec;
+ packet.lat = lat;
+ packet.lon = lon;
+ packet.alt = alt;
+ packet.eph = eph;
+ packet.epv = epv;
+ packet.vel = vel;
+ packet.cog = cog;
+ packet.fix_type = fix_type;
+ packet.satellites_visible = satellites_visible;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 30);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 30, 24);
+}
+
+/**
+ * @brief Encode a gps_raw_int 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 gps_raw_int C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_gps_raw_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_int_t* gps_raw_int)
+{
+ return mavlink_msg_gps_raw_int_pack(system_id, component_id, msg, gps_raw_int->time_usec, gps_raw_int->fix_type, gps_raw_int->lat, gps_raw_int->lon, gps_raw_int->alt, gps_raw_int->eph, gps_raw_int->epv, gps_raw_int->vel, gps_raw_int->cog, gps_raw_int->satellites_visible);
+}
+
+/**
+ * @brief Send a gps_raw_int message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+ * @param lat Latitude in 1E7 degrees
+ * @param lon Longitude in 1E7 degrees
+ * @param alt Altitude in 1E3 meters (millimeters) above MSL
+ * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
+ * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
+ * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
+ * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
+ * @param satellites_visible Number of satellites visible. If unknown, set to 255
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_gps_raw_int_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[30];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_int32_t(buf, 8, lat);
+ _mav_put_int32_t(buf, 12, lon);
+ _mav_put_int32_t(buf, 16, alt);
+ _mav_put_uint16_t(buf, 20, eph);
+ _mav_put_uint16_t(buf, 22, epv);
+ _mav_put_uint16_t(buf, 24, vel);
+ _mav_put_uint16_t(buf, 26, cog);
+ _mav_put_uint8_t(buf, 28, fix_type);
+ _mav_put_uint8_t(buf, 29, satellites_visible);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, 30, 24);
+#else
+ mavlink_gps_raw_int_t packet;
+ packet.time_usec = time_usec;
+ packet.lat = lat;
+ packet.lon = lon;
+ packet.alt = alt;
+ packet.eph = eph;
+ packet.epv = epv;
+ packet.vel = vel;
+ packet.cog = cog;
+ packet.fix_type = fix_type;
+ packet.satellites_visible = satellites_visible;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)&packet, 30, 24);
+#endif
+}
+
+#endif
+
+// MESSAGE GPS_RAW_INT UNPACKING
+
+
+/**
+ * @brief Get field time_usec from gps_raw_int message
+ *
+ * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ */
+static inline uint64_t mavlink_msg_gps_raw_int_get_time_usec(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint64_t(msg, 0);
+}
+
+/**
+ * @brief Get field fix_type from gps_raw_int message
+ *
+ * @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+ */
+static inline uint8_t mavlink_msg_gps_raw_int_get_fix_type(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 28);
+}
+
+/**
+ * @brief Get field lat from gps_raw_int message
+ *
+ * @return Latitude in 1E7 degrees
+ */
+static inline int32_t mavlink_msg_gps_raw_int_get_lat(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 8);
+}
+
+/**
+ * @brief Get field lon from gps_raw_int message
+ *
+ * @return Longitude in 1E7 degrees
+ */
+static inline int32_t mavlink_msg_gps_raw_int_get_lon(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 12);
+}
+
+/**
+ * @brief Get field alt from gps_raw_int message
+ *
+ * @return Altitude in 1E3 meters (millimeters) above MSL
+ */
+static inline int32_t mavlink_msg_gps_raw_int_get_alt(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 16);
+}
+
+/**
+ * @brief Get field eph from gps_raw_int message
+ *
+ * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
+ */
+static inline uint16_t mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 20);
+}
+
+/**
+ * @brief Get field epv from gps_raw_int message
+ *
+ * @return GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
+ */
+static inline uint16_t mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 22);
+}
+
+/**
+ * @brief Get field vel from gps_raw_int message
+ *
+ * @return GPS ground speed (m/s * 100). If unknown, set to: 65535
+ */
+static inline uint16_t mavlink_msg_gps_raw_int_get_vel(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 24);
+}
+
+/**
+ * @brief Get field cog from gps_raw_int message
+ *
+ * @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
+ */
+static inline uint16_t mavlink_msg_gps_raw_int_get_cog(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 26);
+}
+
+/**
+ * @brief Get field satellites_visible from gps_raw_int message
+ *
+ * @return Number of satellites visible. If unknown, set to 255
+ */
+static inline uint8_t mavlink_msg_gps_raw_int_get_satellites_visible(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 29);
+}
+
+/**
+ * @brief Decode a gps_raw_int message into a struct
+ *
+ * @param msg The message to decode
+ * @param gps_raw_int C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_gps_raw_int_decode(const mavlink_message_t* msg, mavlink_gps_raw_int_t* gps_raw_int)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ gps_raw_int->time_usec = mavlink_msg_gps_raw_int_get_time_usec(msg);
+ gps_raw_int->lat = mavlink_msg_gps_raw_int_get_lat(msg);
+ gps_raw_int->lon = mavlink_msg_gps_raw_int_get_lon(msg);
+ gps_raw_int->alt = mavlink_msg_gps_raw_int_get_alt(msg);
+ gps_raw_int->eph = mavlink_msg_gps_raw_int_get_eph(msg);
+ gps_raw_int->epv = mavlink_msg_gps_raw_int_get_epv(msg);
+ gps_raw_int->vel = mavlink_msg_gps_raw_int_get_vel(msg);
+ gps_raw_int->cog = mavlink_msg_gps_raw_int_get_cog(msg);
+ gps_raw_int->fix_type = mavlink_msg_gps_raw_int_get_fix_type(msg);
+ gps_raw_int->satellites_visible = mavlink_msg_gps_raw_int_get_satellites_visible(msg);
+#else
+ memcpy(gps_raw_int, _MAV_PAYLOAD(msg), 30);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_gps_status.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_gps_status.h
new file mode 100644
index 0000000..bd3257f
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_gps_status.h
@@ -0,0 +1,252 @@
+// MESSAGE GPS_STATUS PACKING
+
+#define MAVLINK_MSG_ID_GPS_STATUS 25
+
+typedef struct __mavlink_gps_status_t
+{
+ uint8_t satellites_visible; ///< Number of satellites visible
+ uint8_t satellite_prn[20]; ///< Global satellite ID
+ uint8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization
+ uint8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite
+ uint8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg.
+ uint8_t satellite_snr[20]; ///< Signal to noise ratio of satellite
+} mavlink_gps_status_t;
+
+#define MAVLINK_MSG_ID_GPS_STATUS_LEN 101
+#define MAVLINK_MSG_ID_25_LEN 101
+
+#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20
+#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20
+#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20
+#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20
+#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20
+
+#define MAVLINK_MESSAGE_INFO_GPS_STATUS { \
+ "GPS_STATUS", \
+ 6, \
+ { { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_status_t, satellites_visible) }, \
+ { "satellite_prn", NULL, MAVLINK_TYPE_UINT8_T, 20, 1, offsetof(mavlink_gps_status_t, satellite_prn) }, \
+ { "satellite_used", NULL, MAVLINK_TYPE_UINT8_T, 20, 21, offsetof(mavlink_gps_status_t, satellite_used) }, \
+ { "satellite_elevation", NULL, MAVLINK_TYPE_UINT8_T, 20, 41, offsetof(mavlink_gps_status_t, satellite_elevation) }, \
+ { "satellite_azimuth", NULL, MAVLINK_TYPE_UINT8_T, 20, 61, offsetof(mavlink_gps_status_t, satellite_azimuth) }, \
+ { "satellite_snr", NULL, MAVLINK_TYPE_UINT8_T, 20, 81, offsetof(mavlink_gps_status_t, satellite_snr) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a gps_status 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 satellites_visible Number of satellites visible
+ * @param satellite_prn Global satellite ID
+ * @param satellite_used 0: Satellite not used, 1: used for localization
+ * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
+ * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
+ * @param satellite_snr Signal to noise ratio of satellite
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[101];
+ _mav_put_uint8_t(buf, 0, satellites_visible);
+ _mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
+ _mav_put_uint8_t_array(buf, 21, satellite_used, 20);
+ _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
+ _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
+ _mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 101);
+#else
+ mavlink_gps_status_t packet;
+ packet.satellites_visible = satellites_visible;
+ mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
+ mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
+ mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
+ mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
+ mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 101);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
+ return mavlink_finalize_message(msg, system_id, component_id, 101, 23);
+}
+
+/**
+ * @brief Pack a gps_status 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param satellites_visible Number of satellites visible
+ * @param satellite_prn Global satellite ID
+ * @param satellite_used 0: Satellite not used, 1: used for localization
+ * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
+ * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
+ * @param satellite_snr Signal to noise ratio of satellite
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t satellites_visible,const uint8_t *satellite_prn,const uint8_t *satellite_used,const uint8_t *satellite_elevation,const uint8_t *satellite_azimuth,const uint8_t *satellite_snr)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[101];
+ _mav_put_uint8_t(buf, 0, satellites_visible);
+ _mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
+ _mav_put_uint8_t_array(buf, 21, satellite_used, 20);
+ _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
+ _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
+ _mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 101);
+#else
+ mavlink_gps_status_t packet;
+ packet.satellites_visible = satellites_visible;
+ mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
+ mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
+ mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
+ mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
+ mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 101);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 101, 23);
+}
+
+/**
+ * @brief Encode a gps_status 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 gps_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status)
+{
+ return mavlink_msg_gps_status_pack(system_id, component_id, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr);
+}
+
+/**
+ * @brief Send a gps_status message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param satellites_visible Number of satellites visible
+ * @param satellite_prn Global satellite ID
+ * @param satellite_used 0: Satellite not used, 1: used for localization
+ * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
+ * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
+ * @param satellite_snr Signal to noise ratio of satellite
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[101];
+ _mav_put_uint8_t(buf, 0, satellites_visible);
+ _mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
+ _mav_put_uint8_t_array(buf, 21, satellite_used, 20);
+ _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
+ _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
+ _mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, 101, 23);
+#else
+ mavlink_gps_status_t packet;
+ packet.satellites_visible = satellites_visible;
+ mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
+ mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
+ mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
+ mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
+ mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)&packet, 101, 23);
+#endif
+}
+
+#endif
+
+// MESSAGE GPS_STATUS UNPACKING
+
+
+/**
+ * @brief Get field satellites_visible from gps_status message
+ *
+ * @return Number of satellites visible
+ */
+static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 0);
+}
+
+/**
+ * @brief Get field satellite_prn from gps_status message
+ *
+ * @return Global satellite ID
+ */
+static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, uint8_t *satellite_prn)
+{
+ return _MAV_RETURN_uint8_t_array(msg, satellite_prn, 20, 1);
+}
+
+/**
+ * @brief Get field satellite_used from gps_status message
+ *
+ * @return 0: Satellite not used, 1: used for localization
+ */
+static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, uint8_t *satellite_used)
+{
+ return _MAV_RETURN_uint8_t_array(msg, satellite_used, 20, 21);
+}
+
+/**
+ * @brief Get field satellite_elevation from gps_status message
+ *
+ * @return Elevation (0: right on top of receiver, 90: on the horizon) of satellite
+ */
+static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, uint8_t *satellite_elevation)
+{
+ return _MAV_RETURN_uint8_t_array(msg, satellite_elevation, 20, 41);
+}
+
+/**
+ * @brief Get field satellite_azimuth from gps_status message
+ *
+ * @return Direction of satellite, 0: 0 deg, 255: 360 deg.
+ */
+static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, uint8_t *satellite_azimuth)
+{
+ return _MAV_RETURN_uint8_t_array(msg, satellite_azimuth, 20, 61);
+}
+
+/**
+ * @brief Get field satellite_snr from gps_status message
+ *
+ * @return Signal to noise ratio of satellite
+ */
+static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, uint8_t *satellite_snr)
+{
+ return _MAV_RETURN_uint8_t_array(msg, satellite_snr, 20, 81);
+}
+
+/**
+ * @brief Decode a gps_status message into a struct
+ *
+ * @param msg The message to decode
+ * @param gps_status C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg);
+ mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn);
+ mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used);
+ mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation);
+ mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth);
+ mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr);
+#else
+ memcpy(gps_status, _MAV_PAYLOAD(msg), 101);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_heartbeat.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_heartbeat.h
new file mode 100644
index 0000000..599ea0b
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_heartbeat.h
@@ -0,0 +1,251 @@
+// MESSAGE HEARTBEAT PACKING
+
+#define MAVLINK_MSG_ID_HEARTBEAT 0
+
+typedef struct __mavlink_heartbeat_t
+{
+ uint32_t custom_mode; ///< A bitfield for use for autopilot-specific flags.
+ uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+ uint8_t autopilot; ///< Autopilot type / class. defined in MAV_AUTOPILOT ENUM
+ uint8_t base_mode; ///< System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
+ uint8_t system_status; ///< System status flag, see MAV_STATE ENUM
+ uint8_t mavlink_version; ///< MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
+} mavlink_heartbeat_t;
+
+#define MAVLINK_MSG_ID_HEARTBEAT_LEN 9
+#define MAVLINK_MSG_ID_0_LEN 9
+
+
+
+#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
+ "HEARTBEAT", \
+ 6, \
+ { { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
+ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
+ { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
+ { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
+ { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
+ { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a heartbeat 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 type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+ * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
+ * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
+ * @param custom_mode A bitfield for use for autopilot-specific flags.
+ * @param system_status System status flag, see MAV_STATE ENUM
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[9];
+ _mav_put_uint32_t(buf, 0, custom_mode);
+ _mav_put_uint8_t(buf, 4, type);
+ _mav_put_uint8_t(buf, 5, autopilot);
+ _mav_put_uint8_t(buf, 6, base_mode);
+ _mav_put_uint8_t(buf, 7, system_status);
+ _mav_put_uint8_t(buf, 8, 3);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
+#else
+ mavlink_heartbeat_t packet;
+ packet.custom_mode = custom_mode;
+ packet.type = type;
+ packet.autopilot = autopilot;
+ packet.base_mode = base_mode;
+ packet.system_status = system_status;
+ packet.mavlink_version = 3;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
+ return mavlink_finalize_message(msg, system_id, component_id, 9, 50);
+}
+
+/**
+ * @brief Pack a heartbeat 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+ * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
+ * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
+ * @param custom_mode A bitfield for use for autopilot-specific flags.
+ * @param system_status System status flag, see MAV_STATE ENUM
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t type,uint8_t autopilot,uint8_t base_mode,uint32_t custom_mode,uint8_t system_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[9];
+ _mav_put_uint32_t(buf, 0, custom_mode);
+ _mav_put_uint8_t(buf, 4, type);
+ _mav_put_uint8_t(buf, 5, autopilot);
+ _mav_put_uint8_t(buf, 6, base_mode);
+ _mav_put_uint8_t(buf, 7, system_status);
+ _mav_put_uint8_t(buf, 8, 3);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
+#else
+ mavlink_heartbeat_t packet;
+ packet.custom_mode = custom_mode;
+ packet.type = type;
+ packet.autopilot = autopilot;
+ packet.base_mode = base_mode;
+ packet.system_status = system_status;
+ packet.mavlink_version = 3;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 50);
+}
+
+/**
+ * @brief Encode a heartbeat 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 heartbeat C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
+{
+ return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
+}
+
+/**
+ * @brief Send a heartbeat message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+ * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
+ * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
+ * @param custom_mode A bitfield for use for autopilot-specific flags.
+ * @param system_status System status flag, see MAV_STATE ENUM
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[9];
+ _mav_put_uint32_t(buf, 0, custom_mode);
+ _mav_put_uint8_t(buf, 4, type);
+ _mav_put_uint8_t(buf, 5, autopilot);
+ _mav_put_uint8_t(buf, 6, base_mode);
+ _mav_put_uint8_t(buf, 7, system_status);
+ _mav_put_uint8_t(buf, 8, 3);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, 9, 50);
+#else
+ mavlink_heartbeat_t packet;
+ packet.custom_mode = custom_mode;
+ packet.type = type;
+ packet.autopilot = autopilot;
+ packet.base_mode = base_mode;
+ packet.system_status = system_status;
+ packet.mavlink_version = 3;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, 9, 50);
+#endif
+}
+
+#endif
+
+// MESSAGE HEARTBEAT UNPACKING
+
+
+/**
+ * @brief Get field type from heartbeat message
+ *
+ * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+ */
+static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 4);
+}
+
+/**
+ * @brief Get field autopilot from heartbeat message
+ *
+ * @return Autopilot type / class. defined in MAV_AUTOPILOT ENUM
+ */
+static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 5);
+}
+
+/**
+ * @brief Get field base_mode from heartbeat message
+ *
+ * @return System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
+ */
+static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 6);
+}
+
+/**
+ * @brief Get field custom_mode from heartbeat message
+ *
+ * @return A bitfield for use for autopilot-specific flags.
+ */
+static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field system_status from heartbeat message
+ *
+ * @return System status flag, see MAV_STATE ENUM
+ */
+static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 7);
+}
+
+/**
+ * @brief Get field mavlink_version from heartbeat message
+ *
+ * @return MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
+ */
+static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 8);
+}
+
+/**
+ * @brief Decode a heartbeat message into a struct
+ *
+ * @param msg The message to decode
+ * @param heartbeat C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
+ heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
+ heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
+ heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg);
+ heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg);
+ heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
+#else
+ memcpy(heartbeat, _MAV_PAYLOAD(msg), 9);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_hil_controls.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_hil_controls.h
new file mode 100644
index 0000000..41a9bc9
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_hil_controls.h
@@ -0,0 +1,364 @@
+// MESSAGE HIL_CONTROLS PACKING
+
+#define MAVLINK_MSG_ID_HIL_CONTROLS 91
+
+typedef struct __mavlink_hil_controls_t
+{
+ uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ float roll_ailerons; ///< Control output -1 .. 1
+ float pitch_elevator; ///< Control output -1 .. 1
+ float yaw_rudder; ///< Control output -1 .. 1
+ float throttle; ///< Throttle 0 .. 1
+ float aux1; ///< Aux 1, -1 .. 1
+ float aux2; ///< Aux 2, -1 .. 1
+ float aux3; ///< Aux 3, -1 .. 1
+ float aux4; ///< Aux 4, -1 .. 1
+ uint8_t mode; ///< System mode (MAV_MODE)
+ uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE)
+} mavlink_hil_controls_t;
+
+#define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 42
+#define MAVLINK_MSG_ID_91_LEN 42
+
+
+
+#define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \
+ "HIL_CONTROLS", \
+ 11, \
+ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_usec) }, \
+ { "roll_ailerons", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \
+ { "pitch_elevator", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \
+ { "yaw_rudder", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \
+ { "throttle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \
+ { "aux1", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_controls_t, aux1) }, \
+ { "aux2", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_controls_t, aux2) }, \
+ { "aux3", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_controls_t, aux3) }, \
+ { "aux4", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_controls_t, aux4) }, \
+ { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_hil_controls_t, mode) }, \
+ { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_hil_controls_t, nav_mode) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a hil_controls 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param roll_ailerons Control output -1 .. 1
+ * @param pitch_elevator Control output -1 .. 1
+ * @param yaw_rudder Control output -1 .. 1
+ * @param throttle Throttle 0 .. 1
+ * @param aux1 Aux 1, -1 .. 1
+ * @param aux2 Aux 2, -1 .. 1
+ * @param aux3 Aux 3, -1 .. 1
+ * @param aux4 Aux 4, -1 .. 1
+ * @param mode System mode (MAV_MODE)
+ * @param nav_mode Navigation mode (MAV_NAV_MODE)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[42];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_float(buf, 8, roll_ailerons);
+ _mav_put_float(buf, 12, pitch_elevator);
+ _mav_put_float(buf, 16, yaw_rudder);
+ _mav_put_float(buf, 20, throttle);
+ _mav_put_float(buf, 24, aux1);
+ _mav_put_float(buf, 28, aux2);
+ _mav_put_float(buf, 32, aux3);
+ _mav_put_float(buf, 36, aux4);
+ _mav_put_uint8_t(buf, 40, mode);
+ _mav_put_uint8_t(buf, 41, nav_mode);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42);
+#else
+ mavlink_hil_controls_t packet;
+ packet.time_usec = time_usec;
+ packet.roll_ailerons = roll_ailerons;
+ packet.pitch_elevator = pitch_elevator;
+ packet.yaw_rudder = yaw_rudder;
+ packet.throttle = throttle;
+ packet.aux1 = aux1;
+ packet.aux2 = aux2;
+ packet.aux3 = aux3;
+ packet.aux4 = aux4;
+ packet.mode = mode;
+ packet.nav_mode = nav_mode;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
+ return mavlink_finalize_message(msg, system_id, component_id, 42, 63);
+}
+
+/**
+ * @brief Pack a hil_controls 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param roll_ailerons Control output -1 .. 1
+ * @param pitch_elevator Control output -1 .. 1
+ * @param yaw_rudder Control output -1 .. 1
+ * @param throttle Throttle 0 .. 1
+ * @param aux1 Aux 1, -1 .. 1
+ * @param aux2 Aux 2, -1 .. 1
+ * @param aux3 Aux 3, -1 .. 1
+ * @param aux4 Aux 4, -1 .. 1
+ * @param mode System mode (MAV_MODE)
+ * @param nav_mode Navigation mode (MAV_NAV_MODE)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint64_t time_usec,float roll_ailerons,float pitch_elevator,float yaw_rudder,float throttle,float aux1,float aux2,float aux3,float aux4,uint8_t mode,uint8_t nav_mode)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[42];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_float(buf, 8, roll_ailerons);
+ _mav_put_float(buf, 12, pitch_elevator);
+ _mav_put_float(buf, 16, yaw_rudder);
+ _mav_put_float(buf, 20, throttle);
+ _mav_put_float(buf, 24, aux1);
+ _mav_put_float(buf, 28, aux2);
+ _mav_put_float(buf, 32, aux3);
+ _mav_put_float(buf, 36, aux4);
+ _mav_put_uint8_t(buf, 40, mode);
+ _mav_put_uint8_t(buf, 41, nav_mode);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42);
+#else
+ mavlink_hil_controls_t packet;
+ packet.time_usec = time_usec;
+ packet.roll_ailerons = roll_ailerons;
+ packet.pitch_elevator = pitch_elevator;
+ packet.yaw_rudder = yaw_rudder;
+ packet.throttle = throttle;
+ packet.aux1 = aux1;
+ packet.aux2 = aux2;
+ packet.aux3 = aux3;
+ packet.aux4 = aux4;
+ packet.mode = mode;
+ packet.nav_mode = nav_mode;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 42, 63);
+}
+
+/**
+ * @brief Encode a hil_controls 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 hil_controls C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls)
+{
+ return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode);
+}
+
+/**
+ * @brief Send a hil_controls message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param roll_ailerons Control output -1 .. 1
+ * @param pitch_elevator Control output -1 .. 1
+ * @param yaw_rudder Control output -1 .. 1
+ * @param throttle Throttle 0 .. 1
+ * @param aux1 Aux 1, -1 .. 1
+ * @param aux2 Aux 2, -1 .. 1
+ * @param aux3 Aux 3, -1 .. 1
+ * @param aux4 Aux 4, -1 .. 1
+ * @param mode System mode (MAV_MODE)
+ * @param nav_mode Navigation mode (MAV_NAV_MODE)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[42];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_float(buf, 8, roll_ailerons);
+ _mav_put_float(buf, 12, pitch_elevator);
+ _mav_put_float(buf, 16, yaw_rudder);
+ _mav_put_float(buf, 20, throttle);
+ _mav_put_float(buf, 24, aux1);
+ _mav_put_float(buf, 28, aux2);
+ _mav_put_float(buf, 32, aux3);
+ _mav_put_float(buf, 36, aux4);
+ _mav_put_uint8_t(buf, 40, mode);
+ _mav_put_uint8_t(buf, 41, nav_mode);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, 42, 63);
+#else
+ mavlink_hil_controls_t packet;
+ packet.time_usec = time_usec;
+ packet.roll_ailerons = roll_ailerons;
+ packet.pitch_elevator = pitch_elevator;
+ packet.yaw_rudder = yaw_rudder;
+ packet.throttle = throttle;
+ packet.aux1 = aux1;
+ packet.aux2 = aux2;
+ packet.aux3 = aux3;
+ packet.aux4 = aux4;
+ packet.mode = mode;
+ packet.nav_mode = nav_mode;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, 42, 63);
+#endif
+}
+
+#endif
+
+// MESSAGE HIL_CONTROLS UNPACKING
+
+
+/**
+ * @brief Get field time_usec from hil_controls message
+ *
+ * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ */
+static inline uint64_t mavlink_msg_hil_controls_get_time_usec(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint64_t(msg, 0);
+}
+
+/**
+ * @brief Get field roll_ailerons from hil_controls message
+ *
+ * @return Control output -1 .. 1
+ */
+static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field pitch_elevator from hil_controls message
+ *
+ * @return Control output -1 .. 1
+ */
+static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field yaw_rudder from hil_controls message
+ *
+ * @return Control output -1 .. 1
+ */
+static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field throttle from hil_controls message
+ *
+ * @return Throttle 0 .. 1
+ */
+static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Get field aux1 from hil_controls message
+ *
+ * @return Aux 1, -1 .. 1
+ */
+static inline float mavlink_msg_hil_controls_get_aux1(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 24);
+}
+
+/**
+ * @brief Get field aux2 from hil_controls message
+ *
+ * @return Aux 2, -1 .. 1
+ */
+static inline float mavlink_msg_hil_controls_get_aux2(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 28);
+}
+
+/**
+ * @brief Get field aux3 from hil_controls message
+ *
+ * @return Aux 3, -1 .. 1
+ */
+static inline float mavlink_msg_hil_controls_get_aux3(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 32);
+}
+
+/**
+ * @brief Get field aux4 from hil_controls message
+ *
+ * @return Aux 4, -1 .. 1
+ */
+static inline float mavlink_msg_hil_controls_get_aux4(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 36);
+}
+
+/**
+ * @brief Get field mode from hil_controls message
+ *
+ * @return System mode (MAV_MODE)
+ */
+static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 40);
+}
+
+/**
+ * @brief Get field nav_mode from hil_controls message
+ *
+ * @return Navigation mode (MAV_NAV_MODE)
+ */
+static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 41);
+}
+
+/**
+ * @brief Decode a hil_controls message into a struct
+ *
+ * @param msg The message to decode
+ * @param hil_controls C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ hil_controls->time_usec = mavlink_msg_hil_controls_get_time_usec(msg);
+ hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg);
+ hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg);
+ hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg);
+ hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg);
+ hil_controls->aux1 = mavlink_msg_hil_controls_get_aux1(msg);
+ hil_controls->aux2 = mavlink_msg_hil_controls_get_aux2(msg);
+ hil_controls->aux3 = mavlink_msg_hil_controls_get_aux3(msg);
+ hil_controls->aux4 = mavlink_msg_hil_controls_get_aux4(msg);
+ hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg);
+ hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg);
+#else
+ memcpy(hil_controls, _MAV_PAYLOAD(msg), 42);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_hil_rc_inputs_raw.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_hil_rc_inputs_raw.h
new file mode 100644
index 0000000..7ac0853
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_hil_rc_inputs_raw.h
@@ -0,0 +1,430 @@
+// MESSAGE HIL_RC_INPUTS_RAW PACKING
+
+#define MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW 92
+
+typedef struct __mavlink_hil_rc_inputs_raw_t
+{
+ uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ uint16_t chan1_raw; ///< RC channel 1 value, in microseconds
+ uint16_t chan2_raw; ///< RC channel 2 value, in microseconds
+ uint16_t chan3_raw; ///< RC channel 3 value, in microseconds
+ uint16_t chan4_raw; ///< RC channel 4 value, in microseconds
+ uint16_t chan5_raw; ///< RC channel 5 value, in microseconds
+ uint16_t chan6_raw; ///< RC channel 6 value, in microseconds
+ uint16_t chan7_raw; ///< RC channel 7 value, in microseconds
+ uint16_t chan8_raw; ///< RC channel 8 value, in microseconds
+ uint16_t chan9_raw; ///< RC channel 9 value, in microseconds
+ uint16_t chan10_raw; ///< RC channel 10 value, in microseconds
+ uint16_t chan11_raw; ///< RC channel 11 value, in microseconds
+ uint16_t chan12_raw; ///< RC channel 12 value, in microseconds
+ uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100%
+} mavlink_hil_rc_inputs_raw_t;
+
+#define MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN 33
+#define MAVLINK_MSG_ID_92_LEN 33
+
+
+
+#define MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW { \
+ "HIL_RC_INPUTS_RAW", \
+ 14, \
+ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_rc_inputs_raw_t, time_usec) }, \
+ { "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_hil_rc_inputs_raw_t, chan1_raw) }, \
+ { "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_hil_rc_inputs_raw_t, chan2_raw) }, \
+ { "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_hil_rc_inputs_raw_t, chan3_raw) }, \
+ { "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_hil_rc_inputs_raw_t, chan4_raw) }, \
+ { "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_hil_rc_inputs_raw_t, chan5_raw) }, \
+ { "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_hil_rc_inputs_raw_t, chan6_raw) }, \
+ { "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_hil_rc_inputs_raw_t, chan7_raw) }, \
+ { "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_hil_rc_inputs_raw_t, chan8_raw) }, \
+ { "chan9_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_hil_rc_inputs_raw_t, chan9_raw) }, \
+ { "chan10_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_hil_rc_inputs_raw_t, chan10_raw) }, \
+ { "chan11_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_hil_rc_inputs_raw_t, chan11_raw) }, \
+ { "chan12_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_hil_rc_inputs_raw_t, chan12_raw) }, \
+ { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_hil_rc_inputs_raw_t, rssi) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a hil_rc_inputs_raw 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param chan1_raw RC channel 1 value, in microseconds
+ * @param chan2_raw RC channel 2 value, in microseconds
+ * @param chan3_raw RC channel 3 value, in microseconds
+ * @param chan4_raw RC channel 4 value, in microseconds
+ * @param chan5_raw RC channel 5 value, in microseconds
+ * @param chan6_raw RC channel 6 value, in microseconds
+ * @param chan7_raw RC channel 7 value, in microseconds
+ * @param chan8_raw RC channel 8 value, in microseconds
+ * @param chan9_raw RC channel 9 value, in microseconds
+ * @param chan10_raw RC channel 10 value, in microseconds
+ * @param chan11_raw RC channel 11 value, in microseconds
+ * @param chan12_raw RC channel 12 value, in microseconds
+ * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_hil_rc_inputs_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint64_t time_usec, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint16_t chan9_raw, uint16_t chan10_raw, uint16_t chan11_raw, uint16_t chan12_raw, uint8_t rssi)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[33];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_uint16_t(buf, 8, chan1_raw);
+ _mav_put_uint16_t(buf, 10, chan2_raw);
+ _mav_put_uint16_t(buf, 12, chan3_raw);
+ _mav_put_uint16_t(buf, 14, chan4_raw);
+ _mav_put_uint16_t(buf, 16, chan5_raw);
+ _mav_put_uint16_t(buf, 18, chan6_raw);
+ _mav_put_uint16_t(buf, 20, chan7_raw);
+ _mav_put_uint16_t(buf, 22, chan8_raw);
+ _mav_put_uint16_t(buf, 24, chan9_raw);
+ _mav_put_uint16_t(buf, 26, chan10_raw);
+ _mav_put_uint16_t(buf, 28, chan11_raw);
+ _mav_put_uint16_t(buf, 30, chan12_raw);
+ _mav_put_uint8_t(buf, 32, rssi);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33);
+#else
+ mavlink_hil_rc_inputs_raw_t packet;
+ packet.time_usec = time_usec;
+ packet.chan1_raw = chan1_raw;
+ packet.chan2_raw = chan2_raw;
+ packet.chan3_raw = chan3_raw;
+ packet.chan4_raw = chan4_raw;
+ packet.chan5_raw = chan5_raw;
+ packet.chan6_raw = chan6_raw;
+ packet.chan7_raw = chan7_raw;
+ packet.chan8_raw = chan8_raw;
+ packet.chan9_raw = chan9_raw;
+ packet.chan10_raw = chan10_raw;
+ packet.chan11_raw = chan11_raw;
+ packet.chan12_raw = chan12_raw;
+ packet.rssi = rssi;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW;
+ return mavlink_finalize_message(msg, system_id, component_id, 33, 54);
+}
+
+/**
+ * @brief Pack a hil_rc_inputs_raw 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param chan1_raw RC channel 1 value, in microseconds
+ * @param chan2_raw RC channel 2 value, in microseconds
+ * @param chan3_raw RC channel 3 value, in microseconds
+ * @param chan4_raw RC channel 4 value, in microseconds
+ * @param chan5_raw RC channel 5 value, in microseconds
+ * @param chan6_raw RC channel 6 value, in microseconds
+ * @param chan7_raw RC channel 7 value, in microseconds
+ * @param chan8_raw RC channel 8 value, in microseconds
+ * @param chan9_raw RC channel 9 value, in microseconds
+ * @param chan10_raw RC channel 10 value, in microseconds
+ * @param chan11_raw RC channel 11 value, in microseconds
+ * @param chan12_raw RC channel 12 value, in microseconds
+ * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_hil_rc_inputs_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint64_t time_usec,uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw,uint16_t chan9_raw,uint16_t chan10_raw,uint16_t chan11_raw,uint16_t chan12_raw,uint8_t rssi)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[33];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_uint16_t(buf, 8, chan1_raw);
+ _mav_put_uint16_t(buf, 10, chan2_raw);
+ _mav_put_uint16_t(buf, 12, chan3_raw);
+ _mav_put_uint16_t(buf, 14, chan4_raw);
+ _mav_put_uint16_t(buf, 16, chan5_raw);
+ _mav_put_uint16_t(buf, 18, chan6_raw);
+ _mav_put_uint16_t(buf, 20, chan7_raw);
+ _mav_put_uint16_t(buf, 22, chan8_raw);
+ _mav_put_uint16_t(buf, 24, chan9_raw);
+ _mav_put_uint16_t(buf, 26, chan10_raw);
+ _mav_put_uint16_t(buf, 28, chan11_raw);
+ _mav_put_uint16_t(buf, 30, chan12_raw);
+ _mav_put_uint8_t(buf, 32, rssi);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33);
+#else
+ mavlink_hil_rc_inputs_raw_t packet;
+ packet.time_usec = time_usec;
+ packet.chan1_raw = chan1_raw;
+ packet.chan2_raw = chan2_raw;
+ packet.chan3_raw = chan3_raw;
+ packet.chan4_raw = chan4_raw;
+ packet.chan5_raw = chan5_raw;
+ packet.chan6_raw = chan6_raw;
+ packet.chan7_raw = chan7_raw;
+ packet.chan8_raw = chan8_raw;
+ packet.chan9_raw = chan9_raw;
+ packet.chan10_raw = chan10_raw;
+ packet.chan11_raw = chan11_raw;
+ packet.chan12_raw = chan12_raw;
+ packet.rssi = rssi;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 33, 54);
+}
+
+/**
+ * @brief Encode a hil_rc_inputs_raw 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 hil_rc_inputs_raw C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_hil_rc_inputs_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_rc_inputs_raw_t* hil_rc_inputs_raw)
+{
+ return mavlink_msg_hil_rc_inputs_raw_pack(system_id, component_id, msg, hil_rc_inputs_raw->time_usec, hil_rc_inputs_raw->chan1_raw, hil_rc_inputs_raw->chan2_raw, hil_rc_inputs_raw->chan3_raw, hil_rc_inputs_raw->chan4_raw, hil_rc_inputs_raw->chan5_raw, hil_rc_inputs_raw->chan6_raw, hil_rc_inputs_raw->chan7_raw, hil_rc_inputs_raw->chan8_raw, hil_rc_inputs_raw->chan9_raw, hil_rc_inputs_raw->chan10_raw, hil_rc_inputs_raw->chan11_raw, hil_rc_inputs_raw->chan12_raw, hil_rc_inputs_raw->rssi);
+}
+
+/**
+ * @brief Send a hil_rc_inputs_raw message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param chan1_raw RC channel 1 value, in microseconds
+ * @param chan2_raw RC channel 2 value, in microseconds
+ * @param chan3_raw RC channel 3 value, in microseconds
+ * @param chan4_raw RC channel 4 value, in microseconds
+ * @param chan5_raw RC channel 5 value, in microseconds
+ * @param chan6_raw RC channel 6 value, in microseconds
+ * @param chan7_raw RC channel 7 value, in microseconds
+ * @param chan8_raw RC channel 8 value, in microseconds
+ * @param chan9_raw RC channel 9 value, in microseconds
+ * @param chan10_raw RC channel 10 value, in microseconds
+ * @param chan11_raw RC channel 11 value, in microseconds
+ * @param chan12_raw RC channel 12 value, in microseconds
+ * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_hil_rc_inputs_raw_send(mavlink_channel_t chan, uint64_t time_usec, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint16_t chan9_raw, uint16_t chan10_raw, uint16_t chan11_raw, uint16_t chan12_raw, uint8_t rssi)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[33];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_uint16_t(buf, 8, chan1_raw);
+ _mav_put_uint16_t(buf, 10, chan2_raw);
+ _mav_put_uint16_t(buf, 12, chan3_raw);
+ _mav_put_uint16_t(buf, 14, chan4_raw);
+ _mav_put_uint16_t(buf, 16, chan5_raw);
+ _mav_put_uint16_t(buf, 18, chan6_raw);
+ _mav_put_uint16_t(buf, 20, chan7_raw);
+ _mav_put_uint16_t(buf, 22, chan8_raw);
+ _mav_put_uint16_t(buf, 24, chan9_raw);
+ _mav_put_uint16_t(buf, 26, chan10_raw);
+ _mav_put_uint16_t(buf, 28, chan11_raw);
+ _mav_put_uint16_t(buf, 30, chan12_raw);
+ _mav_put_uint8_t(buf, 32, rssi);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW, buf, 33, 54);
+#else
+ mavlink_hil_rc_inputs_raw_t packet;
+ packet.time_usec = time_usec;
+ packet.chan1_raw = chan1_raw;
+ packet.chan2_raw = chan2_raw;
+ packet.chan3_raw = chan3_raw;
+ packet.chan4_raw = chan4_raw;
+ packet.chan5_raw = chan5_raw;
+ packet.chan6_raw = chan6_raw;
+ packet.chan7_raw = chan7_raw;
+ packet.chan8_raw = chan8_raw;
+ packet.chan9_raw = chan9_raw;
+ packet.chan10_raw = chan10_raw;
+ packet.chan11_raw = chan11_raw;
+ packet.chan12_raw = chan12_raw;
+ packet.rssi = rssi;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW, (const char *)&packet, 33, 54);
+#endif
+}
+
+#endif
+
+// MESSAGE HIL_RC_INPUTS_RAW UNPACKING
+
+
+/**
+ * @brief Get field time_usec from hil_rc_inputs_raw message
+ *
+ * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ */
+static inline uint64_t mavlink_msg_hil_rc_inputs_raw_get_time_usec(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint64_t(msg, 0);
+}
+
+/**
+ * @brief Get field chan1_raw from hil_rc_inputs_raw message
+ *
+ * @return RC channel 1 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan1_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 8);
+}
+
+/**
+ * @brief Get field chan2_raw from hil_rc_inputs_raw message
+ *
+ * @return RC channel 2 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan2_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 10);
+}
+
+/**
+ * @brief Get field chan3_raw from hil_rc_inputs_raw message
+ *
+ * @return RC channel 3 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan3_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 12);
+}
+
+/**
+ * @brief Get field chan4_raw from hil_rc_inputs_raw message
+ *
+ * @return RC channel 4 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan4_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 14);
+}
+
+/**
+ * @brief Get field chan5_raw from hil_rc_inputs_raw message
+ *
+ * @return RC channel 5 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan5_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 16);
+}
+
+/**
+ * @brief Get field chan6_raw from hil_rc_inputs_raw message
+ *
+ * @return RC channel 6 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan6_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 18);
+}
+
+/**
+ * @brief Get field chan7_raw from hil_rc_inputs_raw message
+ *
+ * @return RC channel 7 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan7_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 20);
+}
+
+/**
+ * @brief Get field chan8_raw from hil_rc_inputs_raw message
+ *
+ * @return RC channel 8 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan8_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 22);
+}
+
+/**
+ * @brief Get field chan9_raw from hil_rc_inputs_raw message
+ *
+ * @return RC channel 9 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan9_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 24);
+}
+
+/**
+ * @brief Get field chan10_raw from hil_rc_inputs_raw message
+ *
+ * @return RC channel 10 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan10_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 26);
+}
+
+/**
+ * @brief Get field chan11_raw from hil_rc_inputs_raw message
+ *
+ * @return RC channel 11 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan11_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 28);
+}
+
+/**
+ * @brief Get field chan12_raw from hil_rc_inputs_raw message
+ *
+ * @return RC channel 12 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan12_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 30);
+}
+
+/**
+ * @brief Get field rssi from hil_rc_inputs_raw message
+ *
+ * @return Receive signal strength indicator, 0: 0%, 255: 100%
+ */
+static inline uint8_t mavlink_msg_hil_rc_inputs_raw_get_rssi(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 32);
+}
+
+/**
+ * @brief Decode a hil_rc_inputs_raw message into a struct
+ *
+ * @param msg The message to decode
+ * @param hil_rc_inputs_raw C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_hil_rc_inputs_raw_decode(const mavlink_message_t* msg, mavlink_hil_rc_inputs_raw_t* hil_rc_inputs_raw)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ hil_rc_inputs_raw->time_usec = mavlink_msg_hil_rc_inputs_raw_get_time_usec(msg);
+ hil_rc_inputs_raw->chan1_raw = mavlink_msg_hil_rc_inputs_raw_get_chan1_raw(msg);
+ hil_rc_inputs_raw->chan2_raw = mavlink_msg_hil_rc_inputs_raw_get_chan2_raw(msg);
+ hil_rc_inputs_raw->chan3_raw = mavlink_msg_hil_rc_inputs_raw_get_chan3_raw(msg);
+ hil_rc_inputs_raw->chan4_raw = mavlink_msg_hil_rc_inputs_raw_get_chan4_raw(msg);
+ hil_rc_inputs_raw->chan5_raw = mavlink_msg_hil_rc_inputs_raw_get_chan5_raw(msg);
+ hil_rc_inputs_raw->chan6_raw = mavlink_msg_hil_rc_inputs_raw_get_chan6_raw(msg);
+ hil_rc_inputs_raw->chan7_raw = mavlink_msg_hil_rc_inputs_raw_get_chan7_raw(msg);
+ hil_rc_inputs_raw->chan8_raw = mavlink_msg_hil_rc_inputs_raw_get_chan8_raw(msg);
+ hil_rc_inputs_raw->chan9_raw = mavlink_msg_hil_rc_inputs_raw_get_chan9_raw(msg);
+ hil_rc_inputs_raw->chan10_raw = mavlink_msg_hil_rc_inputs_raw_get_chan10_raw(msg);
+ hil_rc_inputs_raw->chan11_raw = mavlink_msg_hil_rc_inputs_raw_get_chan11_raw(msg);
+ hil_rc_inputs_raw->chan12_raw = mavlink_msg_hil_rc_inputs_raw_get_chan12_raw(msg);
+ hil_rc_inputs_raw->rssi = mavlink_msg_hil_rc_inputs_raw_get_rssi(msg);
+#else
+ memcpy(hil_rc_inputs_raw, _MAV_PAYLOAD(msg), 33);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h
new file mode 100644
index 0000000..1447812
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h
@@ -0,0 +1,474 @@
+// MESSAGE HIL_STATE PACKING
+
+#define MAVLINK_MSG_ID_HIL_STATE 90
+
+typedef struct __mavlink_hil_state_t
+{
+ uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ float roll; ///< Roll angle (rad)
+ float pitch; ///< Pitch angle (rad)
+ float yaw; ///< Yaw angle (rad)
+ float rollspeed; ///< Roll angular speed (rad/s)
+ float pitchspeed; ///< Pitch angular speed (rad/s)
+ float yawspeed; ///< Yaw angular speed (rad/s)
+ int32_t lat; ///< Latitude, expressed as * 1E7
+ int32_t lon; ///< Longitude, expressed as * 1E7
+ int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
+ int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
+ int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
+ int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
+ int16_t xacc; ///< X acceleration (mg)
+ int16_t yacc; ///< Y acceleration (mg)
+ int16_t zacc; ///< Z acceleration (mg)
+} mavlink_hil_state_t;
+
+#define MAVLINK_MSG_ID_HIL_STATE_LEN 56
+#define MAVLINK_MSG_ID_90_LEN 56
+
+
+
+#define MAVLINK_MESSAGE_INFO_HIL_STATE { \
+ "HIL_STATE", \
+ 16, \
+ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \
+ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
+ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
+ { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
+ { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
+ { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
+ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
+ { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
+ { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
+ { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
+ { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
+ { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
+ { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
+ { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
+ { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a hil_state 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param rollspeed Roll angular speed (rad/s)
+ * @param pitchspeed Pitch angular speed (rad/s)
+ * @param yawspeed Yaw angular speed (rad/s)
+ * @param lat Latitude, expressed as * 1E7
+ * @param lon Longitude, expressed as * 1E7
+ * @param alt Altitude in meters, expressed as * 1000 (millimeters)
+ * @param vx Ground X Speed (Latitude), expressed as m/s * 100
+ * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
+ * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
+ * @param xacc X acceleration (mg)
+ * @param yacc Y acceleration (mg)
+ * @param zacc Z acceleration (mg)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[56];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_float(buf, 8, roll);
+ _mav_put_float(buf, 12, pitch);
+ _mav_put_float(buf, 16, yaw);
+ _mav_put_float(buf, 20, rollspeed);
+ _mav_put_float(buf, 24, pitchspeed);
+ _mav_put_float(buf, 28, yawspeed);
+ _mav_put_int32_t(buf, 32, lat);
+ _mav_put_int32_t(buf, 36, lon);
+ _mav_put_int32_t(buf, 40, alt);
+ _mav_put_int16_t(buf, 44, vx);
+ _mav_put_int16_t(buf, 46, vy);
+ _mav_put_int16_t(buf, 48, vz);
+ _mav_put_int16_t(buf, 50, xacc);
+ _mav_put_int16_t(buf, 52, yacc);
+ _mav_put_int16_t(buf, 54, zacc);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 56);
+#else
+ mavlink_hil_state_t packet;
+ packet.time_usec = time_usec;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.rollspeed = rollspeed;
+ packet.pitchspeed = pitchspeed;
+ packet.yawspeed = yawspeed;
+ packet.lat = lat;
+ packet.lon = lon;
+ packet.alt = alt;
+ packet.vx = vx;
+ packet.vy = vy;
+ packet.vz = vz;
+ packet.xacc = xacc;
+ packet.yacc = yacc;
+ packet.zacc = zacc;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 56);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
+ return mavlink_finalize_message(msg, system_id, component_id, 56, 183);
+}
+
+/**
+ * @brief Pack a hil_state 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param rollspeed Roll angular speed (rad/s)
+ * @param pitchspeed Pitch angular speed (rad/s)
+ * @param yawspeed Yaw angular speed (rad/s)
+ * @param lat Latitude, expressed as * 1E7
+ * @param lon Longitude, expressed as * 1E7
+ * @param alt Altitude in meters, expressed as * 1000 (millimeters)
+ * @param vx Ground X Speed (Latitude), expressed as m/s * 100
+ * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
+ * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
+ * @param xacc X acceleration (mg)
+ * @param yacc Y acceleration (mg)
+ * @param zacc Z acceleration (mg)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint64_t time_usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[56];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_float(buf, 8, roll);
+ _mav_put_float(buf, 12, pitch);
+ _mav_put_float(buf, 16, yaw);
+ _mav_put_float(buf, 20, rollspeed);
+ _mav_put_float(buf, 24, pitchspeed);
+ _mav_put_float(buf, 28, yawspeed);
+ _mav_put_int32_t(buf, 32, lat);
+ _mav_put_int32_t(buf, 36, lon);
+ _mav_put_int32_t(buf, 40, alt);
+ _mav_put_int16_t(buf, 44, vx);
+ _mav_put_int16_t(buf, 46, vy);
+ _mav_put_int16_t(buf, 48, vz);
+ _mav_put_int16_t(buf, 50, xacc);
+ _mav_put_int16_t(buf, 52, yacc);
+ _mav_put_int16_t(buf, 54, zacc);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 56);
+#else
+ mavlink_hil_state_t packet;
+ packet.time_usec = time_usec;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.rollspeed = rollspeed;
+ packet.pitchspeed = pitchspeed;
+ packet.yawspeed = yawspeed;
+ packet.lat = lat;
+ packet.lon = lon;
+ packet.alt = alt;
+ packet.vx = vx;
+ packet.vy = vy;
+ packet.vz = vz;
+ packet.xacc = xacc;
+ packet.yacc = yacc;
+ packet.zacc = zacc;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 56);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 56, 183);
+}
+
+/**
+ * @brief Encode a hil_state 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 hil_state C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
+{
+ return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
+}
+
+/**
+ * @brief Send a hil_state message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param rollspeed Roll angular speed (rad/s)
+ * @param pitchspeed Pitch angular speed (rad/s)
+ * @param yawspeed Yaw angular speed (rad/s)
+ * @param lat Latitude, expressed as * 1E7
+ * @param lon Longitude, expressed as * 1E7
+ * @param alt Altitude in meters, expressed as * 1000 (millimeters)
+ * @param vx Ground X Speed (Latitude), expressed as m/s * 100
+ * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
+ * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
+ * @param xacc X acceleration (mg)
+ * @param yacc Y acceleration (mg)
+ * @param zacc Z acceleration (mg)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[56];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_float(buf, 8, roll);
+ _mav_put_float(buf, 12, pitch);
+ _mav_put_float(buf, 16, yaw);
+ _mav_put_float(buf, 20, rollspeed);
+ _mav_put_float(buf, 24, pitchspeed);
+ _mav_put_float(buf, 28, yawspeed);
+ _mav_put_int32_t(buf, 32, lat);
+ _mav_put_int32_t(buf, 36, lon);
+ _mav_put_int32_t(buf, 40, alt);
+ _mav_put_int16_t(buf, 44, vx);
+ _mav_put_int16_t(buf, 46, vy);
+ _mav_put_int16_t(buf, 48, vz);
+ _mav_put_int16_t(buf, 50, xacc);
+ _mav_put_int16_t(buf, 52, yacc);
+ _mav_put_int16_t(buf, 54, zacc);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, 56, 183);
+#else
+ mavlink_hil_state_t packet;
+ packet.time_usec = time_usec;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.rollspeed = rollspeed;
+ packet.pitchspeed = pitchspeed;
+ packet.yawspeed = yawspeed;
+ packet.lat = lat;
+ packet.lon = lon;
+ packet.alt = alt;
+ packet.vx = vx;
+ packet.vy = vy;
+ packet.vz = vz;
+ packet.xacc = xacc;
+ packet.yacc = yacc;
+ packet.zacc = zacc;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, 56, 183);
+#endif
+}
+
+#endif
+
+// MESSAGE HIL_STATE UNPACKING
+
+
+/**
+ * @brief Get field time_usec from hil_state message
+ *
+ * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ */
+static inline uint64_t mavlink_msg_hil_state_get_time_usec(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint64_t(msg, 0);
+}
+
+/**
+ * @brief Get field roll from hil_state message
+ *
+ * @return Roll angle (rad)
+ */
+static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field pitch from hil_state message
+ *
+ * @return Pitch angle (rad)
+ */
+static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field yaw from hil_state message
+ *
+ * @return Yaw angle (rad)
+ */
+static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field rollspeed from hil_state message
+ *
+ * @return Roll angular speed (rad/s)
+ */
+static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Get field pitchspeed from hil_state message
+ *
+ * @return Pitch angular speed (rad/s)
+ */
+static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 24);
+}
+
+/**
+ * @brief Get field yawspeed from hil_state message
+ *
+ * @return Yaw angular speed (rad/s)
+ */
+static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 28);
+}
+
+/**
+ * @brief Get field lat from hil_state message
+ *
+ * @return Latitude, expressed as * 1E7
+ */
+static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 32);
+}
+
+/**
+ * @brief Get field lon from hil_state message
+ *
+ * @return Longitude, expressed as * 1E7
+ */
+static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 36);
+}
+
+/**
+ * @brief Get field alt from hil_state message
+ *
+ * @return Altitude in meters, expressed as * 1000 (millimeters)
+ */
+static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 40);
+}
+
+/**
+ * @brief Get field vx from hil_state message
+ *
+ * @return Ground X Speed (Latitude), expressed as m/s * 100
+ */
+static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 44);
+}
+
+/**
+ * @brief Get field vy from hil_state message
+ *
+ * @return Ground Y Speed (Longitude), expressed as m/s * 100
+ */
+static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 46);
+}
+
+/**
+ * @brief Get field vz from hil_state message
+ *
+ * @return Ground Z Speed (Altitude), expressed as m/s * 100
+ */
+static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 48);
+}
+
+/**
+ * @brief Get field xacc from hil_state message
+ *
+ * @return X acceleration (mg)
+ */
+static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 50);
+}
+
+/**
+ * @brief Get field yacc from hil_state message
+ *
+ * @return Y acceleration (mg)
+ */
+static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 52);
+}
+
+/**
+ * @brief Get field zacc from hil_state message
+ *
+ * @return Z acceleration (mg)
+ */
+static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 54);
+}
+
+/**
+ * @brief Decode a hil_state message into a struct
+ *
+ * @param msg The message to decode
+ * @param hil_state C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ hil_state->time_usec = mavlink_msg_hil_state_get_time_usec(msg);
+ hil_state->roll = mavlink_msg_hil_state_get_roll(msg);
+ hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg);
+ hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg);
+ hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg);
+ hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg);
+ hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg);
+ hil_state->lat = mavlink_msg_hil_state_get_lat(msg);
+ hil_state->lon = mavlink_msg_hil_state_get_lon(msg);
+ hil_state->alt = mavlink_msg_hil_state_get_alt(msg);
+ hil_state->vx = mavlink_msg_hil_state_get_vx(msg);
+ hil_state->vy = mavlink_msg_hil_state_get_vy(msg);
+ hil_state->vz = mavlink_msg_hil_state_get_vz(msg);
+ hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg);
+ hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg);
+ hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg);
+#else
+ memcpy(hil_state, _MAV_PAYLOAD(msg), 56);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned.h
new file mode 100644
index 0000000..fe0a791
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned.h
@@ -0,0 +1,276 @@
+// MESSAGE LOCAL_POSITION_NED PACKING
+
+#define MAVLINK_MSG_ID_LOCAL_POSITION_NED 32
+
+typedef struct __mavlink_local_position_ned_t
+{
+ uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ float x; ///< X Position
+ float y; ///< Y Position
+ float z; ///< Z Position
+ float vx; ///< X Speed
+ float vy; ///< Y Speed
+ float vz; ///< Z Speed
+} mavlink_local_position_ned_t;
+
+#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN 28
+#define MAVLINK_MSG_ID_32_LEN 28
+
+
+
+#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED { \
+ "LOCAL_POSITION_NED", \
+ 7, \
+ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_t, time_boot_ms) }, \
+ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_t, x) }, \
+ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_t, y) }, \
+ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_t, z) }, \
+ { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_t, vx) }, \
+ { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_t, vy) }, \
+ { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_t, vz) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a local_position_ned 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 time_boot_ms Timestamp (milliseconds since system boot)
+ * @param x X Position
+ * @param y Y Position
+ * @param z Z Position
+ * @param vx X Speed
+ * @param vy Y Speed
+ * @param vz Z Speed
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_local_position_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, x);
+ _mav_put_float(buf, 8, y);
+ _mav_put_float(buf, 12, z);
+ _mav_put_float(buf, 16, vx);
+ _mav_put_float(buf, 20, vy);
+ _mav_put_float(buf, 24, vz);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+ mavlink_local_position_ned_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.vx = vx;
+ packet.vy = vy;
+ packet.vz = vz;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED;
+ return mavlink_finalize_message(msg, system_id, component_id, 28, 185);
+}
+
+/**
+ * @brief Pack a local_position_ned 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param x X Position
+ * @param y Y Position
+ * @param z Z Position
+ * @param vx X Speed
+ * @param vy Y Speed
+ * @param vz Z Speed
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_local_position_ned_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint32_t time_boot_ms,float x,float y,float z,float vx,float vy,float vz)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, x);
+ _mav_put_float(buf, 8, y);
+ _mav_put_float(buf, 12, z);
+ _mav_put_float(buf, 16, vx);
+ _mav_put_float(buf, 20, vy);
+ _mav_put_float(buf, 24, vz);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+ mavlink_local_position_ned_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.vx = vx;
+ packet.vy = vy;
+ packet.vz = vz;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 185);
+}
+
+/**
+ * @brief Encode a local_position_ned 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 local_position_ned C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_local_position_ned_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_ned_t* local_position_ned)
+{
+ return mavlink_msg_local_position_ned_pack(system_id, component_id, msg, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz);
+}
+
+/**
+ * @brief Send a local_position_ned message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param x X Position
+ * @param y Y Position
+ * @param z Z Position
+ * @param vx X Speed
+ * @param vy Y Speed
+ * @param vz Z Speed
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_local_position_ned_send(mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, x);
+ _mav_put_float(buf, 8, y);
+ _mav_put_float(buf, 12, z);
+ _mav_put_float(buf, 16, vx);
+ _mav_put_float(buf, 20, vy);
+ _mav_put_float(buf, 24, vz);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, 28, 185);
+#else
+ mavlink_local_position_ned_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.vx = vx;
+ packet.vy = vy;
+ packet.vz = vz;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)&packet, 28, 185);
+#endif
+}
+
+#endif
+
+// MESSAGE LOCAL_POSITION_NED UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from local_position_ned message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_local_position_ned_get_time_boot_ms(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field x from local_position_ned message
+ *
+ * @return X Position
+ */
+static inline float mavlink_msg_local_position_ned_get_x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field y from local_position_ned message
+ *
+ * @return Y Position
+ */
+static inline float mavlink_msg_local_position_ned_get_y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field z from local_position_ned message
+ *
+ * @return Z Position
+ */
+static inline float mavlink_msg_local_position_ned_get_z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field vx from local_position_ned message
+ *
+ * @return X Speed
+ */
+static inline float mavlink_msg_local_position_ned_get_vx(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field vy from local_position_ned message
+ *
+ * @return Y Speed
+ */
+static inline float mavlink_msg_local_position_ned_get_vy(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Get field vz from local_position_ned message
+ *
+ * @return Z Speed
+ */
+static inline float mavlink_msg_local_position_ned_get_vz(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 24);
+}
+
+/**
+ * @brief Decode a local_position_ned message into a struct
+ *
+ * @param msg The message to decode
+ * @param local_position_ned C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_local_position_ned_decode(const mavlink_message_t* msg, mavlink_local_position_ned_t* local_position_ned)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ local_position_ned->time_boot_ms = mavlink_msg_local_position_ned_get_time_boot_ms(msg);
+ local_position_ned->x = mavlink_msg_local_position_ned_get_x(msg);
+ local_position_ned->y = mavlink_msg_local_position_ned_get_y(msg);
+ local_position_ned->z = mavlink_msg_local_position_ned_get_z(msg);
+ local_position_ned->vx = mavlink_msg_local_position_ned_get_vx(msg);
+ local_position_ned->vy = mavlink_msg_local_position_ned_get_vy(msg);
+ local_position_ned->vz = mavlink_msg_local_position_ned_get_vz(msg);
+#else
+ memcpy(local_position_ned, _MAV_PAYLOAD(msg), 28);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned_system_global_offset.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned_system_global_offset.h
new file mode 100644
index 0000000..ac1941d
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned_system_global_offset.h
@@ -0,0 +1,276 @@
+// MESSAGE LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET PACKING
+
+#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET 89
+
+typedef struct __mavlink_local_position_ned_system_global_offset_t
+{
+ uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ float x; ///< X Position
+ float y; ///< Y Position
+ float z; ///< Z Position
+ float roll; ///< Roll
+ float pitch; ///< Pitch
+ float yaw; ///< Yaw
+} mavlink_local_position_ned_system_global_offset_t;
+
+#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN 28
+#define MAVLINK_MSG_ID_89_LEN 28
+
+
+
+#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET { \
+ "LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET", \
+ 7, \
+ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_system_global_offset_t, time_boot_ms) }, \
+ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_system_global_offset_t, x) }, \
+ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_system_global_offset_t, y) }, \
+ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_system_global_offset_t, z) }, \
+ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_system_global_offset_t, roll) }, \
+ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_system_global_offset_t, pitch) }, \
+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_system_global_offset_t, yaw) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a local_position_ned_system_global_offset 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 time_boot_ms Timestamp (milliseconds since system boot)
+ * @param x X Position
+ * @param y Y Position
+ * @param z Z Position
+ * @param roll Roll
+ * @param pitch Pitch
+ * @param yaw Yaw
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_local_position_ned_system_global_offset_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint32_t time_boot_ms, float x, float y, float z, float roll, float pitch, float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, x);
+ _mav_put_float(buf, 8, y);
+ _mav_put_float(buf, 12, z);
+ _mav_put_float(buf, 16, roll);
+ _mav_put_float(buf, 20, pitch);
+ _mav_put_float(buf, 24, yaw);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+ mavlink_local_position_ned_system_global_offset_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET;
+ return mavlink_finalize_message(msg, system_id, component_id, 28, 231);
+}
+
+/**
+ * @brief Pack a local_position_ned_system_global_offset 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param x X Position
+ * @param y Y Position
+ * @param z Z Position
+ * @param roll Roll
+ * @param pitch Pitch
+ * @param yaw Yaw
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_local_position_ned_system_global_offset_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint32_t time_boot_ms,float x,float y,float z,float roll,float pitch,float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, x);
+ _mav_put_float(buf, 8, y);
+ _mav_put_float(buf, 12, z);
+ _mav_put_float(buf, 16, roll);
+ _mav_put_float(buf, 20, pitch);
+ _mav_put_float(buf, 24, yaw);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+#else
+ mavlink_local_position_ned_system_global_offset_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 231);
+}
+
+/**
+ * @brief Encode a local_position_ned_system_global_offset 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 local_position_ned_system_global_offset C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_local_position_ned_system_global_offset_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_ned_system_global_offset_t* local_position_ned_system_global_offset)
+{
+ return mavlink_msg_local_position_ned_system_global_offset_pack(system_id, component_id, msg, local_position_ned_system_global_offset->time_boot_ms, local_position_ned_system_global_offset->x, local_position_ned_system_global_offset->y, local_position_ned_system_global_offset->z, local_position_ned_system_global_offset->roll, local_position_ned_system_global_offset->pitch, local_position_ned_system_global_offset->yaw);
+}
+
+/**
+ * @brief Send a local_position_ned_system_global_offset message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param x X Position
+ * @param y Y Position
+ * @param z Z Position
+ * @param roll Roll
+ * @param pitch Pitch
+ * @param yaw Yaw
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_local_position_ned_system_global_offset_send(mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float roll, float pitch, float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[28];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, x);
+ _mav_put_float(buf, 8, y);
+ _mav_put_float(buf, 12, z);
+ _mav_put_float(buf, 16, roll);
+ _mav_put_float(buf, 20, pitch);
+ _mav_put_float(buf, 24, yaw);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, buf, 28, 231);
+#else
+ mavlink_local_position_ned_system_global_offset_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, (const char *)&packet, 28, 231);
+#endif
+}
+
+#endif
+
+// MESSAGE LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from local_position_ned_system_global_offset message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_local_position_ned_system_global_offset_get_time_boot_ms(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field x from local_position_ned_system_global_offset message
+ *
+ * @return X Position
+ */
+static inline float mavlink_msg_local_position_ned_system_global_offset_get_x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field y from local_position_ned_system_global_offset message
+ *
+ * @return Y Position
+ */
+static inline float mavlink_msg_local_position_ned_system_global_offset_get_y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field z from local_position_ned_system_global_offset message
+ *
+ * @return Z Position
+ */
+static inline float mavlink_msg_local_position_ned_system_global_offset_get_z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field roll from local_position_ned_system_global_offset message
+ *
+ * @return Roll
+ */
+static inline float mavlink_msg_local_position_ned_system_global_offset_get_roll(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field pitch from local_position_ned_system_global_offset message
+ *
+ * @return Pitch
+ */
+static inline float mavlink_msg_local_position_ned_system_global_offset_get_pitch(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Get field yaw from local_position_ned_system_global_offset message
+ *
+ * @return Yaw
+ */
+static inline float mavlink_msg_local_position_ned_system_global_offset_get_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 24);
+}
+
+/**
+ * @brief Decode a local_position_ned_system_global_offset message into a struct
+ *
+ * @param msg The message to decode
+ * @param local_position_ned_system_global_offset C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_local_position_ned_system_global_offset_decode(const mavlink_message_t* msg, mavlink_local_position_ned_system_global_offset_t* local_position_ned_system_global_offset)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ local_position_ned_system_global_offset->time_boot_ms = mavlink_msg_local_position_ned_system_global_offset_get_time_boot_ms(msg);
+ local_position_ned_system_global_offset->x = mavlink_msg_local_position_ned_system_global_offset_get_x(msg);
+ local_position_ned_system_global_offset->y = mavlink_msg_local_position_ned_system_global_offset_get_y(msg);
+ local_position_ned_system_global_offset->z = mavlink_msg_local_position_ned_system_global_offset_get_z(msg);
+ local_position_ned_system_global_offset->roll = mavlink_msg_local_position_ned_system_global_offset_get_roll(msg);
+ local_position_ned_system_global_offset->pitch = mavlink_msg_local_position_ned_system_global_offset_get_pitch(msg);
+ local_position_ned_system_global_offset->yaw = mavlink_msg_local_position_ned_system_global_offset_get_yaw(msg);
+#else
+ memcpy(local_position_ned_system_global_offset, _MAV_PAYLOAD(msg), 28);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_local_position_setpoint.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_local_position_setpoint.h
new file mode 100644
index 0000000..9ab87d0
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_local_position_setpoint.h
@@ -0,0 +1,232 @@
+// MESSAGE LOCAL_POSITION_SETPOINT PACKING
+
+#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT 51
+
+typedef struct __mavlink_local_position_setpoint_t
+{
+ float x; ///< x position
+ float y; ///< y position
+ float z; ///< z position
+ float yaw; ///< Desired yaw angle
+ uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
+} mavlink_local_position_setpoint_t;
+
+#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN 17
+#define MAVLINK_MSG_ID_51_LEN 17
+
+
+
+#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT { \
+ "LOCAL_POSITION_SETPOINT", \
+ 5, \
+ { { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_local_position_setpoint_t, x) }, \
+ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_setpoint_t, y) }, \
+ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_setpoint_t, z) }, \
+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_setpoint_t, yaw) }, \
+ { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_local_position_setpoint_t, coordinate_frame) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a local_position_setpoint 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 coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
+ * @param x x position
+ * @param y y position
+ * @param z z position
+ * @param yaw Desired yaw angle
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_local_position_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t coordinate_frame, float x, float y, float z, float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[17];
+ _mav_put_float(buf, 0, x);
+ _mav_put_float(buf, 4, y);
+ _mav_put_float(buf, 8, z);
+ _mav_put_float(buf, 12, yaw);
+ _mav_put_uint8_t(buf, 16, coordinate_frame);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 17);
+#else
+ mavlink_local_position_setpoint_t packet;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.yaw = yaw;
+ packet.coordinate_frame = coordinate_frame;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 17);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
+ return mavlink_finalize_message(msg, system_id, component_id, 17, 223);
+}
+
+/**
+ * @brief Pack a local_position_setpoint 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
+ * @param x x position
+ * @param y y position
+ * @param z z position
+ * @param yaw Desired yaw angle
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_local_position_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t coordinate_frame,float x,float y,float z,float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[17];
+ _mav_put_float(buf, 0, x);
+ _mav_put_float(buf, 4, y);
+ _mav_put_float(buf, 8, z);
+ _mav_put_float(buf, 12, yaw);
+ _mav_put_uint8_t(buf, 16, coordinate_frame);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 17);
+#else
+ mavlink_local_position_setpoint_t packet;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.yaw = yaw;
+ packet.coordinate_frame = coordinate_frame;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 17);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 17, 223);
+}
+
+/**
+ * @brief Encode a local_position_setpoint 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 local_position_setpoint C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_local_position_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_setpoint_t* local_position_setpoint)
+{
+ return mavlink_msg_local_position_setpoint_pack(system_id, component_id, msg, local_position_setpoint->coordinate_frame, local_position_setpoint->x, local_position_setpoint->y, local_position_setpoint->z, local_position_setpoint->yaw);
+}
+
+/**
+ * @brief Send a local_position_setpoint message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
+ * @param x x position
+ * @param y y position
+ * @param z z position
+ * @param yaw Desired yaw angle
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_local_position_setpoint_send(mavlink_channel_t chan, uint8_t coordinate_frame, float x, float y, float z, float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[17];
+ _mav_put_float(buf, 0, x);
+ _mav_put_float(buf, 4, y);
+ _mav_put_float(buf, 8, z);
+ _mav_put_float(buf, 12, yaw);
+ _mav_put_uint8_t(buf, 16, coordinate_frame);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, 17, 223);
+#else
+ mavlink_local_position_setpoint_t packet;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.yaw = yaw;
+ packet.coordinate_frame = coordinate_frame;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, (const char *)&packet, 17, 223);
+#endif
+}
+
+#endif
+
+// MESSAGE LOCAL_POSITION_SETPOINT UNPACKING
+
+
+/**
+ * @brief Get field coordinate_frame from local_position_setpoint message
+ *
+ * @return Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
+ */
+static inline uint8_t mavlink_msg_local_position_setpoint_get_coordinate_frame(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 16);
+}
+
+/**
+ * @brief Get field x from local_position_setpoint message
+ *
+ * @return x position
+ */
+static inline float mavlink_msg_local_position_setpoint_get_x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field y from local_position_setpoint message
+ *
+ * @return y position
+ */
+static inline float mavlink_msg_local_position_setpoint_get_y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field z from local_position_setpoint message
+ *
+ * @return z position
+ */
+static inline float mavlink_msg_local_position_setpoint_get_z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field yaw from local_position_setpoint message
+ *
+ * @return Desired yaw angle
+ */
+static inline float mavlink_msg_local_position_setpoint_get_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Decode a local_position_setpoint message into a struct
+ *
+ * @param msg The message to decode
+ * @param local_position_setpoint C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_local_position_setpoint_decode(const mavlink_message_t* msg, mavlink_local_position_setpoint_t* local_position_setpoint)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ local_position_setpoint->x = mavlink_msg_local_position_setpoint_get_x(msg);
+ local_position_setpoint->y = mavlink_msg_local_position_setpoint_get_y(msg);
+ local_position_setpoint->z = mavlink_msg_local_position_setpoint_get_z(msg);
+ local_position_setpoint->yaw = mavlink_msg_local_position_setpoint_get_yaw(msg);
+ local_position_setpoint->coordinate_frame = mavlink_msg_local_position_setpoint_get_coordinate_frame(msg);
+#else
+ memcpy(local_position_setpoint, _MAV_PAYLOAD(msg), 17);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h
new file mode 100644
index 0000000..93adce2
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h
@@ -0,0 +1,320 @@
+// MESSAGE MANUAL_CONTROL PACKING
+
+#define MAVLINK_MSG_ID_MANUAL_CONTROL 69
+
+typedef struct __mavlink_manual_control_t
+{
+ float roll; ///< roll
+ float pitch; ///< pitch
+ float yaw; ///< yaw
+ float thrust; ///< thrust
+ uint8_t target; ///< The system to be controlled
+ uint8_t roll_manual; ///< roll control enabled auto:0, manual:1
+ uint8_t pitch_manual; ///< pitch auto:0, manual:1
+ uint8_t yaw_manual; ///< yaw auto:0, manual:1
+ uint8_t thrust_manual; ///< thrust auto:0, manual:1
+} mavlink_manual_control_t;
+
+#define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 21
+#define MAVLINK_MSG_ID_69_LEN 21
+
+
+
+#define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \
+ "MANUAL_CONTROL", \
+ 9, \
+ { { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_manual_control_t, roll) }, \
+ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_manual_control_t, pitch) }, \
+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_manual_control_t, yaw) }, \
+ { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_manual_control_t, thrust) }, \
+ { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_manual_control_t, target) }, \
+ { "roll_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_manual_control_t, roll_manual) }, \
+ { "pitch_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_manual_control_t, pitch_manual) }, \
+ { "yaw_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_manual_control_t, yaw_manual) }, \
+ { "thrust_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_control_t, thrust_manual) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a manual_control 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 The system to be controlled
+ * @param roll roll
+ * @param pitch pitch
+ * @param yaw yaw
+ * @param thrust thrust
+ * @param roll_manual roll control enabled auto:0, manual:1
+ * @param pitch_manual pitch auto:0, manual:1
+ * @param yaw_manual yaw auto:0, manual:1
+ * @param thrust_manual thrust auto:0, manual:1
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[21];
+ _mav_put_float(buf, 0, roll);
+ _mav_put_float(buf, 4, pitch);
+ _mav_put_float(buf, 8, yaw);
+ _mav_put_float(buf, 12, thrust);
+ _mav_put_uint8_t(buf, 16, target);
+ _mav_put_uint8_t(buf, 17, roll_manual);
+ _mav_put_uint8_t(buf, 18, pitch_manual);
+ _mav_put_uint8_t(buf, 19, yaw_manual);
+ _mav_put_uint8_t(buf, 20, thrust_manual);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21);
+#else
+ mavlink_manual_control_t packet;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.thrust = thrust;
+ packet.target = target;
+ packet.roll_manual = roll_manual;
+ packet.pitch_manual = pitch_manual;
+ packet.yaw_manual = yaw_manual;
+ packet.thrust_manual = thrust_manual;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
+ return mavlink_finalize_message(msg, system_id, component_id, 21, 52);
+}
+
+/**
+ * @brief Pack a manual_control 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target The system to be controlled
+ * @param roll roll
+ * @param pitch pitch
+ * @param yaw yaw
+ * @param thrust thrust
+ * @param roll_manual roll control enabled auto:0, manual:1
+ * @param pitch_manual pitch auto:0, manual:1
+ * @param yaw_manual yaw auto:0, manual:1
+ * @param thrust_manual thrust auto:0, manual:1
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target,float roll,float pitch,float yaw,float thrust,uint8_t roll_manual,uint8_t pitch_manual,uint8_t yaw_manual,uint8_t thrust_manual)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[21];
+ _mav_put_float(buf, 0, roll);
+ _mav_put_float(buf, 4, pitch);
+ _mav_put_float(buf, 8, yaw);
+ _mav_put_float(buf, 12, thrust);
+ _mav_put_uint8_t(buf, 16, target);
+ _mav_put_uint8_t(buf, 17, roll_manual);
+ _mav_put_uint8_t(buf, 18, pitch_manual);
+ _mav_put_uint8_t(buf, 19, yaw_manual);
+ _mav_put_uint8_t(buf, 20, thrust_manual);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21);
+#else
+ mavlink_manual_control_t packet;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.thrust = thrust;
+ packet.target = target;
+ packet.roll_manual = roll_manual;
+ packet.pitch_manual = pitch_manual;
+ packet.yaw_manual = yaw_manual;
+ packet.thrust_manual = thrust_manual;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 52);
+}
+
+/**
+ * @brief Encode a manual_control 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 manual_control C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control)
+{
+ return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->roll, manual_control->pitch, manual_control->yaw, manual_control->thrust, manual_control->roll_manual, manual_control->pitch_manual, manual_control->yaw_manual, manual_control->thrust_manual);
+}
+
+/**
+ * @brief Send a manual_control message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target The system to be controlled
+ * @param roll roll
+ * @param pitch pitch
+ * @param yaw yaw
+ * @param thrust thrust
+ * @param roll_manual roll control enabled auto:0, manual:1
+ * @param pitch_manual pitch auto:0, manual:1
+ * @param yaw_manual yaw auto:0, manual:1
+ * @param thrust_manual thrust auto:0, manual:1
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[21];
+ _mav_put_float(buf, 0, roll);
+ _mav_put_float(buf, 4, pitch);
+ _mav_put_float(buf, 8, yaw);
+ _mav_put_float(buf, 12, thrust);
+ _mav_put_uint8_t(buf, 16, target);
+ _mav_put_uint8_t(buf, 17, roll_manual);
+ _mav_put_uint8_t(buf, 18, pitch_manual);
+ _mav_put_uint8_t(buf, 19, yaw_manual);
+ _mav_put_uint8_t(buf, 20, thrust_manual);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, 21, 52);
+#else
+ mavlink_manual_control_t packet;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.thrust = thrust;
+ packet.target = target;
+ packet.roll_manual = roll_manual;
+ packet.pitch_manual = pitch_manual;
+ packet.yaw_manual = yaw_manual;
+ packet.thrust_manual = thrust_manual;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, 21, 52);
+#endif
+}
+
+#endif
+
+// MESSAGE MANUAL_CONTROL UNPACKING
+
+
+/**
+ * @brief Get field target from manual_control message
+ *
+ * @return The system to be controlled
+ */
+static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 16);
+}
+
+/**
+ * @brief Get field roll from manual_control message
+ *
+ * @return roll
+ */
+static inline float mavlink_msg_manual_control_get_roll(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field pitch from manual_control message
+ *
+ * @return pitch
+ */
+static inline float mavlink_msg_manual_control_get_pitch(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field yaw from manual_control message
+ *
+ * @return yaw
+ */
+static inline float mavlink_msg_manual_control_get_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field thrust from manual_control message
+ *
+ * @return thrust
+ */
+static inline float mavlink_msg_manual_control_get_thrust(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field roll_manual from manual_control message
+ *
+ * @return roll control enabled auto:0, manual:1
+ */
+static inline uint8_t mavlink_msg_manual_control_get_roll_manual(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 17);
+}
+
+/**
+ * @brief Get field pitch_manual from manual_control message
+ *
+ * @return pitch auto:0, manual:1
+ */
+static inline uint8_t mavlink_msg_manual_control_get_pitch_manual(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 18);
+}
+
+/**
+ * @brief Get field yaw_manual from manual_control message
+ *
+ * @return yaw auto:0, manual:1
+ */
+static inline uint8_t mavlink_msg_manual_control_get_yaw_manual(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 19);
+}
+
+/**
+ * @brief Get field thrust_manual from manual_control message
+ *
+ * @return thrust auto:0, manual:1
+ */
+static inline uint8_t mavlink_msg_manual_control_get_thrust_manual(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 20);
+}
+
+/**
+ * @brief Decode a manual_control message into a struct
+ *
+ * @param msg The message to decode
+ * @param manual_control C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* msg, mavlink_manual_control_t* manual_control)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ manual_control->roll = mavlink_msg_manual_control_get_roll(msg);
+ manual_control->pitch = mavlink_msg_manual_control_get_pitch(msg);
+ manual_control->yaw = mavlink_msg_manual_control_get_yaw(msg);
+ manual_control->thrust = mavlink_msg_manual_control_get_thrust(msg);
+ manual_control->target = mavlink_msg_manual_control_get_target(msg);
+ manual_control->roll_manual = mavlink_msg_manual_control_get_roll_manual(msg);
+ manual_control->pitch_manual = mavlink_msg_manual_control_get_pitch_manual(msg);
+ manual_control->yaw_manual = mavlink_msg_manual_control_get_yaw_manual(msg);
+ manual_control->thrust_manual = mavlink_msg_manual_control_get_thrust_manual(msg);
+#else
+ memcpy(manual_control, _MAV_PAYLOAD(msg), 21);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_memory_vect.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_memory_vect.h
new file mode 100644
index 0000000..a61c130
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_memory_vect.h
@@ -0,0 +1,204 @@
+// MESSAGE MEMORY_VECT PACKING
+
+#define MAVLINK_MSG_ID_MEMORY_VECT 249
+
+typedef struct __mavlink_memory_vect_t
+{
+ uint16_t address; ///< Starting address of the debug variables
+ uint8_t ver; ///< Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
+ uint8_t type; ///< Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
+ int8_t value[32]; ///< Memory contents at specified address
+} mavlink_memory_vect_t;
+
+#define MAVLINK_MSG_ID_MEMORY_VECT_LEN 36
+#define MAVLINK_MSG_ID_249_LEN 36
+
+#define MAVLINK_MSG_MEMORY_VECT_FIELD_VALUE_LEN 32
+
+#define MAVLINK_MESSAGE_INFO_MEMORY_VECT { \
+ "MEMORY_VECT", \
+ 4, \
+ { { "address", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_memory_vect_t, address) }, \
+ { "ver", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_memory_vect_t, ver) }, \
+ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_memory_vect_t, type) }, \
+ { "value", NULL, MAVLINK_TYPE_INT8_T, 32, 4, offsetof(mavlink_memory_vect_t, value) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a memory_vect 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 address Starting address of the debug variables
+ * @param ver Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
+ * @param type Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
+ * @param value Memory contents at specified address
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_memory_vect_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint16_t address, uint8_t ver, uint8_t type, const int8_t *value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[36];
+ _mav_put_uint16_t(buf, 0, address);
+ _mav_put_uint8_t(buf, 2, ver);
+ _mav_put_uint8_t(buf, 3, type);
+ _mav_put_int8_t_array(buf, 4, value, 32);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36);
+#else
+ mavlink_memory_vect_t packet;
+ packet.address = address;
+ packet.ver = ver;
+ packet.type = type;
+ mav_array_memcpy(packet.value, value, sizeof(int8_t)*32);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MEMORY_VECT;
+ return mavlink_finalize_message(msg, system_id, component_id, 36, 204);
+}
+
+/**
+ * @brief Pack a memory_vect 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param address Starting address of the debug variables
+ * @param ver Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
+ * @param type Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
+ * @param value Memory contents at specified address
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_memory_vect_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint16_t address,uint8_t ver,uint8_t type,const int8_t *value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[36];
+ _mav_put_uint16_t(buf, 0, address);
+ _mav_put_uint8_t(buf, 2, ver);
+ _mav_put_uint8_t(buf, 3, type);
+ _mav_put_int8_t_array(buf, 4, value, 32);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36);
+#else
+ mavlink_memory_vect_t packet;
+ packet.address = address;
+ packet.ver = ver;
+ packet.type = type;
+ mav_array_memcpy(packet.value, value, sizeof(int8_t)*32);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MEMORY_VECT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36, 204);
+}
+
+/**
+ * @brief Encode a memory_vect 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 memory_vect C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_memory_vect_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_memory_vect_t* memory_vect)
+{
+ return mavlink_msg_memory_vect_pack(system_id, component_id, msg, memory_vect->address, memory_vect->ver, memory_vect->type, memory_vect->value);
+}
+
+/**
+ * @brief Send a memory_vect message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param address Starting address of the debug variables
+ * @param ver Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
+ * @param type Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
+ * @param value Memory contents at specified address
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_memory_vect_send(mavlink_channel_t chan, uint16_t address, uint8_t ver, uint8_t type, const int8_t *value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[36];
+ _mav_put_uint16_t(buf, 0, address);
+ _mav_put_uint8_t(buf, 2, ver);
+ _mav_put_uint8_t(buf, 3, type);
+ _mav_put_int8_t_array(buf, 4, value, 32);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMORY_VECT, buf, 36, 204);
+#else
+ mavlink_memory_vect_t packet;
+ packet.address = address;
+ packet.ver = ver;
+ packet.type = type;
+ mav_array_memcpy(packet.value, value, sizeof(int8_t)*32);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMORY_VECT, (const char *)&packet, 36, 204);
+#endif
+}
+
+#endif
+
+// MESSAGE MEMORY_VECT UNPACKING
+
+
+/**
+ * @brief Get field address from memory_vect message
+ *
+ * @return Starting address of the debug variables
+ */
+static inline uint16_t mavlink_msg_memory_vect_get_address(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 0);
+}
+
+/**
+ * @brief Get field ver from memory_vect message
+ *
+ * @return Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
+ */
+static inline uint8_t mavlink_msg_memory_vect_get_ver(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 2);
+}
+
+/**
+ * @brief Get field type from memory_vect message
+ *
+ * @return Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
+ */
+static inline uint8_t mavlink_msg_memory_vect_get_type(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 3);
+}
+
+/**
+ * @brief Get field value from memory_vect message
+ *
+ * @return Memory contents at specified address
+ */
+static inline uint16_t mavlink_msg_memory_vect_get_value(const mavlink_message_t* msg, int8_t *value)
+{
+ return _MAV_RETURN_int8_t_array(msg, value, 32, 4);
+}
+
+/**
+ * @brief Decode a memory_vect message into a struct
+ *
+ * @param msg The message to decode
+ * @param memory_vect C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_memory_vect_decode(const mavlink_message_t* msg, mavlink_memory_vect_t* memory_vect)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ memory_vect->address = mavlink_msg_memory_vect_get_address(msg);
+ memory_vect->ver = mavlink_msg_memory_vect_get_ver(msg);
+ memory_vect->type = mavlink_msg_memory_vect_get_type(msg);
+ mavlink_msg_memory_vect_get_value(msg, memory_vect->value);
+#else
+ memcpy(memory_vect, _MAV_PAYLOAD(msg), 36);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_ack.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_ack.h
new file mode 100644
index 0000000..92eca79
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_ack.h
@@ -0,0 +1,188 @@
+// MESSAGE MISSION_ACK PACKING
+
+#define MAVLINK_MSG_ID_MISSION_ACK 47
+
+typedef struct __mavlink_mission_ack_t
+{
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ uint8_t type; ///< See MAV_MISSION_RESULT enum
+} mavlink_mission_ack_t;
+
+#define MAVLINK_MSG_ID_MISSION_ACK_LEN 3
+#define MAVLINK_MSG_ID_47_LEN 3
+
+
+
+#define MAVLINK_MESSAGE_INFO_MISSION_ACK { \
+ "MISSION_ACK", \
+ 3, \
+ { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mission_ack_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mission_ack_t, target_component) }, \
+ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mission_ack_t, type) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a mission_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 target_system System ID
+ * @param target_component Component ID
+ * @param type See MAV_MISSION_RESULT enum
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, uint8_t type)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[3];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+ _mav_put_uint8_t(buf, 2, type);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
+#else
+ mavlink_mission_ack_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.type = type;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_ACK;
+ return mavlink_finalize_message(msg, system_id, component_id, 3, 153);
+}
+
+/**
+ * @brief Pack a mission_ack 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param type See MAV_MISSION_RESULT enum
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,uint8_t type)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[3];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+ _mav_put_uint8_t(buf, 2, type);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
+#else
+ mavlink_mission_ack_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.type = type;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_ACK;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 153);
+}
+
+/**
+ * @brief Encode a mission_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 mission_ack C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mission_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_ack_t* mission_ack)
+{
+ return mavlink_msg_mission_ack_pack(system_id, component_id, msg, mission_ack->target_system, mission_ack->target_component, mission_ack->type);
+}
+
+/**
+ * @brief Send a mission_ack message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param type See MAV_MISSION_RESULT enum
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_mission_ack_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t type)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[3];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+ _mav_put_uint8_t(buf, 2, type);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ACK, buf, 3, 153);
+#else
+ mavlink_mission_ack_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.type = type;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ACK, (const char *)&packet, 3, 153);
+#endif
+}
+
+#endif
+
+// MESSAGE MISSION_ACK UNPACKING
+
+
+/**
+ * @brief Get field target_system from mission_ack message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_mission_ack_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 0);
+}
+
+/**
+ * @brief Get field target_component from mission_ack message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_mission_ack_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 1);
+}
+
+/**
+ * @brief Get field type from mission_ack message
+ *
+ * @return See MAV_MISSION_RESULT enum
+ */
+static inline uint8_t mavlink_msg_mission_ack_get_type(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 2);
+}
+
+/**
+ * @brief Decode a mission_ack message into a struct
+ *
+ * @param msg The message to decode
+ * @param mission_ack C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_mission_ack_decode(const mavlink_message_t* msg, mavlink_mission_ack_t* mission_ack)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mission_ack->target_system = mavlink_msg_mission_ack_get_target_system(msg);
+ mission_ack->target_component = mavlink_msg_mission_ack_get_target_component(msg);
+ mission_ack->type = mavlink_msg_mission_ack_get_type(msg);
+#else
+ memcpy(mission_ack, _MAV_PAYLOAD(msg), 3);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_clear_all.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_clear_all.h
new file mode 100644
index 0000000..602852f
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_clear_all.h
@@ -0,0 +1,166 @@
+// MESSAGE MISSION_CLEAR_ALL PACKING
+
+#define MAVLINK_MSG_ID_MISSION_CLEAR_ALL 45
+
+typedef struct __mavlink_mission_clear_all_t
+{
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_mission_clear_all_t;
+
+#define MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN 2
+#define MAVLINK_MSG_ID_45_LEN 2
+
+
+
+#define MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL { \
+ "MISSION_CLEAR_ALL", \
+ 2, \
+ { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mission_clear_all_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mission_clear_all_t, target_component) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a mission_clear_all 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_system System ID
+ * @param target_component Component ID
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_clear_all_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[2];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2);
+#else
+ mavlink_mission_clear_all_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_CLEAR_ALL;
+ return mavlink_finalize_message(msg, system_id, component_id, 2, 232);
+}
+
+/**
+ * @brief Pack a mission_clear_all 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_clear_all_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[2];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2);
+#else
+ mavlink_mission_clear_all_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_CLEAR_ALL;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 232);
+}
+
+/**
+ * @brief Encode a mission_clear_all 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 mission_clear_all C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mission_clear_all_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_clear_all_t* mission_clear_all)
+{
+ return mavlink_msg_mission_clear_all_pack(system_id, component_id, msg, mission_clear_all->target_system, mission_clear_all->target_component);
+}
+
+/**
+ * @brief Send a mission_clear_all message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_mission_clear_all_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[2];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, buf, 2, 232);
+#else
+ mavlink_mission_clear_all_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, (const char *)&packet, 2, 232);
+#endif
+}
+
+#endif
+
+// MESSAGE MISSION_CLEAR_ALL UNPACKING
+
+
+/**
+ * @brief Get field target_system from mission_clear_all message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_mission_clear_all_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 0);
+}
+
+/**
+ * @brief Get field target_component from mission_clear_all message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_mission_clear_all_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 1);
+}
+
+/**
+ * @brief Decode a mission_clear_all message into a struct
+ *
+ * @param msg The message to decode
+ * @param mission_clear_all C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_mission_clear_all_decode(const mavlink_message_t* msg, mavlink_mission_clear_all_t* mission_clear_all)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mission_clear_all->target_system = mavlink_msg_mission_clear_all_get_target_system(msg);
+ mission_clear_all->target_component = mavlink_msg_mission_clear_all_get_target_component(msg);
+#else
+ memcpy(mission_clear_all, _MAV_PAYLOAD(msg), 2);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_count.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_count.h
new file mode 100644
index 0000000..61d8b22
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_count.h
@@ -0,0 +1,188 @@
+// MESSAGE MISSION_COUNT PACKING
+
+#define MAVLINK_MSG_ID_MISSION_COUNT 44
+
+typedef struct __mavlink_mission_count_t
+{
+ uint16_t count; ///< Number of mission items in the sequence
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_mission_count_t;
+
+#define MAVLINK_MSG_ID_MISSION_COUNT_LEN 4
+#define MAVLINK_MSG_ID_44_LEN 4
+
+
+
+#define MAVLINK_MESSAGE_INFO_MISSION_COUNT { \
+ "MISSION_COUNT", \
+ 3, \
+ { { "count", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_count_t, count) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mission_count_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_mission_count_t, target_component) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a mission_count 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_system System ID
+ * @param target_component Component ID
+ * @param count Number of mission items in the sequence
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_count_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, uint16_t count)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[4];
+ _mav_put_uint16_t(buf, 0, count);
+ _mav_put_uint8_t(buf, 2, target_system);
+ _mav_put_uint8_t(buf, 3, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
+#else
+ mavlink_mission_count_t packet;
+ packet.count = count;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_COUNT;
+ return mavlink_finalize_message(msg, system_id, component_id, 4, 221);
+}
+
+/**
+ * @brief Pack a mission_count 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param count Number of mission items in the sequence
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_count_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,uint16_t count)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[4];
+ _mav_put_uint16_t(buf, 0, count);
+ _mav_put_uint8_t(buf, 2, target_system);
+ _mav_put_uint8_t(buf, 3, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
+#else
+ mavlink_mission_count_t packet;
+ packet.count = count;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_COUNT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 221);
+}
+
+/**
+ * @brief Encode a mission_count 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 mission_count C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mission_count_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_count_t* mission_count)
+{
+ return mavlink_msg_mission_count_pack(system_id, component_id, msg, mission_count->target_system, mission_count->target_component, mission_count->count);
+}
+
+/**
+ * @brief Send a mission_count message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param count Number of mission items in the sequence
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_mission_count_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t count)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[4];
+ _mav_put_uint16_t(buf, 0, count);
+ _mav_put_uint8_t(buf, 2, target_system);
+ _mav_put_uint8_t(buf, 3, target_component);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_COUNT, buf, 4, 221);
+#else
+ mavlink_mission_count_t packet;
+ packet.count = count;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_COUNT, (const char *)&packet, 4, 221);
+#endif
+}
+
+#endif
+
+// MESSAGE MISSION_COUNT UNPACKING
+
+
+/**
+ * @brief Get field target_system from mission_count message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_mission_count_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 2);
+}
+
+/**
+ * @brief Get field target_component from mission_count message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_mission_count_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 3);
+}
+
+/**
+ * @brief Get field count from mission_count message
+ *
+ * @return Number of mission items in the sequence
+ */
+static inline uint16_t mavlink_msg_mission_count_get_count(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 0);
+}
+
+/**
+ * @brief Decode a mission_count message into a struct
+ *
+ * @param msg The message to decode
+ * @param mission_count C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_mission_count_decode(const mavlink_message_t* msg, mavlink_mission_count_t* mission_count)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mission_count->count = mavlink_msg_mission_count_get_count(msg);
+ mission_count->target_system = mavlink_msg_mission_count_get_target_system(msg);
+ mission_count->target_component = mavlink_msg_mission_count_get_target_component(msg);
+#else
+ memcpy(mission_count, _MAV_PAYLOAD(msg), 4);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_current.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_current.h
new file mode 100644
index 0000000..99370f8
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_current.h
@@ -0,0 +1,144 @@
+// MESSAGE MISSION_CURRENT PACKING
+
+#define MAVLINK_MSG_ID_MISSION_CURRENT 42
+
+typedef struct __mavlink_mission_current_t
+{
+ uint16_t seq; ///< Sequence
+} mavlink_mission_current_t;
+
+#define MAVLINK_MSG_ID_MISSION_CURRENT_LEN 2
+#define MAVLINK_MSG_ID_42_LEN 2
+
+
+
+#define MAVLINK_MESSAGE_INFO_MISSION_CURRENT { \
+ "MISSION_CURRENT", \
+ 1, \
+ { { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_current_t, seq) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a mission_current 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 seq Sequence
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint16_t seq)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[2];
+ _mav_put_uint16_t(buf, 0, seq);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2);
+#else
+ mavlink_mission_current_t packet;
+ packet.seq = seq;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_CURRENT;
+ return mavlink_finalize_message(msg, system_id, component_id, 2, 28);
+}
+
+/**
+ * @brief Pack a mission_current 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param seq Sequence
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_current_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint16_t seq)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[2];
+ _mav_put_uint16_t(buf, 0, seq);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2);
+#else
+ mavlink_mission_current_t packet;
+ packet.seq = seq;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_CURRENT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 28);
+}
+
+/**
+ * @brief Encode a mission_current 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 mission_current C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mission_current_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_current_t* mission_current)
+{
+ return mavlink_msg_mission_current_pack(system_id, component_id, msg, mission_current->seq);
+}
+
+/**
+ * @brief Send a mission_current message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param seq Sequence
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_mission_current_send(mavlink_channel_t chan, uint16_t seq)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[2];
+ _mav_put_uint16_t(buf, 0, seq);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, buf, 2, 28);
+#else
+ mavlink_mission_current_t packet;
+ packet.seq = seq;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, (const char *)&packet, 2, 28);
+#endif
+}
+
+#endif
+
+// MESSAGE MISSION_CURRENT UNPACKING
+
+
+/**
+ * @brief Get field seq from mission_current message
+ *
+ * @return Sequence
+ */
+static inline uint16_t mavlink_msg_mission_current_get_seq(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 0);
+}
+
+/**
+ * @brief Decode a mission_current message into a struct
+ *
+ * @param msg The message to decode
+ * @param mission_current C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_mission_current_decode(const mavlink_message_t* msg, mavlink_mission_current_t* mission_current)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mission_current->seq = mavlink_msg_mission_current_get_seq(msg);
+#else
+ memcpy(mission_current, _MAV_PAYLOAD(msg), 2);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_item.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_item.h
new file mode 100644
index 0000000..d2c66d4
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_item.h
@@ -0,0 +1,430 @@
+// MESSAGE MISSION_ITEM PACKING
+
+#define MAVLINK_MSG_ID_MISSION_ITEM 39
+
+typedef struct __mavlink_mission_item_t
+{
+ float param1; ///< PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
+ float param2; ///< PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
+ float param3; ///< PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
+ float param4; ///< PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
+ float x; ///< PARAM5 / local: x position, global: latitude
+ float y; ///< PARAM6 / y position: global: longitude
+ float z; ///< PARAM7 / z position: global: altitude
+ uint16_t seq; ///< Sequence
+ uint16_t command; ///< The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ uint8_t frame; ///< The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
+ uint8_t current; ///< false:0, true:1
+ uint8_t autocontinue; ///< autocontinue to next wp
+} mavlink_mission_item_t;
+
+#define MAVLINK_MSG_ID_MISSION_ITEM_LEN 37
+#define MAVLINK_MSG_ID_39_LEN 37
+
+
+
+#define MAVLINK_MESSAGE_INFO_MISSION_ITEM { \
+ "MISSION_ITEM", \
+ 14, \
+ { { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_mission_item_t, param1) }, \
+ { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mission_item_t, param2) }, \
+ { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mission_item_t, param3) }, \
+ { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_mission_item_t, param4) }, \
+ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_mission_item_t, x) }, \
+ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_mission_item_t, y) }, \
+ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_mission_item_t, z) }, \
+ { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_mission_item_t, seq) }, \
+ { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_mission_item_t, command) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_mission_item_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_mission_item_t, target_component) }, \
+ { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_mission_item_t, frame) }, \
+ { "current", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_mission_item_t, current) }, \
+ { "autocontinue", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_mission_item_t, autocontinue) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a mission_item 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_system System ID
+ * @param target_component Component ID
+ * @param seq Sequence
+ * @param frame The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
+ * @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
+ * @param current false:0, true:1
+ * @param autocontinue autocontinue to next wp
+ * @param param1 PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
+ * @param param2 PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
+ * @param param3 PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
+ * @param param4 PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
+ * @param x PARAM5 / local: x position, global: latitude
+ * @param y PARAM6 / y position: global: longitude
+ * @param z PARAM7 / z position: global: altitude
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_item_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[37];
+ _mav_put_float(buf, 0, param1);
+ _mav_put_float(buf, 4, param2);
+ _mav_put_float(buf, 8, param3);
+ _mav_put_float(buf, 12, param4);
+ _mav_put_float(buf, 16, x);
+ _mav_put_float(buf, 20, y);
+ _mav_put_float(buf, 24, z);
+ _mav_put_uint16_t(buf, 28, seq);
+ _mav_put_uint16_t(buf, 30, command);
+ _mav_put_uint8_t(buf, 32, target_system);
+ _mav_put_uint8_t(buf, 33, target_component);
+ _mav_put_uint8_t(buf, 34, frame);
+ _mav_put_uint8_t(buf, 35, current);
+ _mav_put_uint8_t(buf, 36, autocontinue);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 37);
+#else
+ mavlink_mission_item_t packet;
+ packet.param1 = param1;
+ packet.param2 = param2;
+ packet.param3 = param3;
+ packet.param4 = param4;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.seq = seq;
+ packet.command = command;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.frame = frame;
+ packet.current = current;
+ packet.autocontinue = autocontinue;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 37);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM;
+ return mavlink_finalize_message(msg, system_id, component_id, 37, 254);
+}
+
+/**
+ * @brief Pack a mission_item 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param seq Sequence
+ * @param frame The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
+ * @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
+ * @param current false:0, true:1
+ * @param autocontinue autocontinue to next wp
+ * @param param1 PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
+ * @param param2 PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
+ * @param param3 PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
+ * @param param4 PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
+ * @param x PARAM5 / local: x position, global: latitude
+ * @param y PARAM6 / y position: global: longitude
+ * @param z PARAM7 / z position: global: altitude
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_item_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,uint16_t seq,uint8_t frame,uint16_t command,uint8_t current,uint8_t autocontinue,float param1,float param2,float param3,float param4,float x,float y,float z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[37];
+ _mav_put_float(buf, 0, param1);
+ _mav_put_float(buf, 4, param2);
+ _mav_put_float(buf, 8, param3);
+ _mav_put_float(buf, 12, param4);
+ _mav_put_float(buf, 16, x);
+ _mav_put_float(buf, 20, y);
+ _mav_put_float(buf, 24, z);
+ _mav_put_uint16_t(buf, 28, seq);
+ _mav_put_uint16_t(buf, 30, command);
+ _mav_put_uint8_t(buf, 32, target_system);
+ _mav_put_uint8_t(buf, 33, target_component);
+ _mav_put_uint8_t(buf, 34, frame);
+ _mav_put_uint8_t(buf, 35, current);
+ _mav_put_uint8_t(buf, 36, autocontinue);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 37);
+#else
+ mavlink_mission_item_t packet;
+ packet.param1 = param1;
+ packet.param2 = param2;
+ packet.param3 = param3;
+ packet.param4 = param4;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.seq = seq;
+ packet.command = command;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.frame = frame;
+ packet.current = current;
+ packet.autocontinue = autocontinue;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 37);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 37, 254);
+}
+
+/**
+ * @brief Encode a mission_item 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 mission_item C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mission_item_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_item_t* mission_item)
+{
+ return mavlink_msg_mission_item_pack(system_id, component_id, msg, mission_item->target_system, mission_item->target_component, mission_item->seq, mission_item->frame, mission_item->command, mission_item->current, mission_item->autocontinue, mission_item->param1, mission_item->param2, mission_item->param3, mission_item->param4, mission_item->x, mission_item->y, mission_item->z);
+}
+
+/**
+ * @brief Send a mission_item message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param seq Sequence
+ * @param frame The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
+ * @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
+ * @param current false:0, true:1
+ * @param autocontinue autocontinue to next wp
+ * @param param1 PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
+ * @param param2 PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
+ * @param param3 PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
+ * @param param4 PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
+ * @param x PARAM5 / local: x position, global: latitude
+ * @param y PARAM6 / y position: global: longitude
+ * @param z PARAM7 / z position: global: altitude
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_mission_item_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[37];
+ _mav_put_float(buf, 0, param1);
+ _mav_put_float(buf, 4, param2);
+ _mav_put_float(buf, 8, param3);
+ _mav_put_float(buf, 12, param4);
+ _mav_put_float(buf, 16, x);
+ _mav_put_float(buf, 20, y);
+ _mav_put_float(buf, 24, z);
+ _mav_put_uint16_t(buf, 28, seq);
+ _mav_put_uint16_t(buf, 30, command);
+ _mav_put_uint8_t(buf, 32, target_system);
+ _mav_put_uint8_t(buf, 33, target_component);
+ _mav_put_uint8_t(buf, 34, frame);
+ _mav_put_uint8_t(buf, 35, current);
+ _mav_put_uint8_t(buf, 36, autocontinue);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, buf, 37, 254);
+#else
+ mavlink_mission_item_t packet;
+ packet.param1 = param1;
+ packet.param2 = param2;
+ packet.param3 = param3;
+ packet.param4 = param4;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.seq = seq;
+ packet.command = command;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.frame = frame;
+ packet.current = current;
+ packet.autocontinue = autocontinue;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, (const char *)&packet, 37, 254);
+#endif
+}
+
+#endif
+
+// MESSAGE MISSION_ITEM UNPACKING
+
+
+/**
+ * @brief Get field target_system from mission_item message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_mission_item_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 32);
+}
+
+/**
+ * @brief Get field target_component from mission_item message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_mission_item_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 33);
+}
+
+/**
+ * @brief Get field seq from mission_item message
+ *
+ * @return Sequence
+ */
+static inline uint16_t mavlink_msg_mission_item_get_seq(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 28);
+}
+
+/**
+ * @brief Get field frame from mission_item message
+ *
+ * @return The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
+ */
+static inline uint8_t mavlink_msg_mission_item_get_frame(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 34);
+}
+
+/**
+ * @brief Get field command from mission_item message
+ *
+ * @return The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
+ */
+static inline uint16_t mavlink_msg_mission_item_get_command(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 30);
+}
+
+/**
+ * @brief Get field current from mission_item message
+ *
+ * @return false:0, true:1
+ */
+static inline uint8_t mavlink_msg_mission_item_get_current(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 35);
+}
+
+/**
+ * @brief Get field autocontinue from mission_item message
+ *
+ * @return autocontinue to next wp
+ */
+static inline uint8_t mavlink_msg_mission_item_get_autocontinue(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 36);
+}
+
+/**
+ * @brief Get field param1 from mission_item message
+ *
+ * @return PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
+ */
+static inline float mavlink_msg_mission_item_get_param1(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field param2 from mission_item message
+ *
+ * @return PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
+ */
+static inline float mavlink_msg_mission_item_get_param2(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field param3 from mission_item message
+ *
+ * @return PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
+ */
+static inline float mavlink_msg_mission_item_get_param3(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field param4 from mission_item message
+ *
+ * @return PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
+ */
+static inline float mavlink_msg_mission_item_get_param4(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field x from mission_item message
+ *
+ * @return PARAM5 / local: x position, global: latitude
+ */
+static inline float mavlink_msg_mission_item_get_x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field y from mission_item message
+ *
+ * @return PARAM6 / y position: global: longitude
+ */
+static inline float mavlink_msg_mission_item_get_y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Get field z from mission_item message
+ *
+ * @return PARAM7 / z position: global: altitude
+ */
+static inline float mavlink_msg_mission_item_get_z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 24);
+}
+
+/**
+ * @brief Decode a mission_item message into a struct
+ *
+ * @param msg The message to decode
+ * @param mission_item C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_mission_item_decode(const mavlink_message_t* msg, mavlink_mission_item_t* mission_item)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mission_item->param1 = mavlink_msg_mission_item_get_param1(msg);
+ mission_item->param2 = mavlink_msg_mission_item_get_param2(msg);
+ mission_item->param3 = mavlink_msg_mission_item_get_param3(msg);
+ mission_item->param4 = mavlink_msg_mission_item_get_param4(msg);
+ mission_item->x = mavlink_msg_mission_item_get_x(msg);
+ mission_item->y = mavlink_msg_mission_item_get_y(msg);
+ mission_item->z = mavlink_msg_mission_item_get_z(msg);
+ mission_item->seq = mavlink_msg_mission_item_get_seq(msg);
+ mission_item->command = mavlink_msg_mission_item_get_command(msg);
+ mission_item->target_system = mavlink_msg_mission_item_get_target_system(msg);
+ mission_item->target_component = mavlink_msg_mission_item_get_target_component(msg);
+ mission_item->frame = mavlink_msg_mission_item_get_frame(msg);
+ mission_item->current = mavlink_msg_mission_item_get_current(msg);
+ mission_item->autocontinue = mavlink_msg_mission_item_get_autocontinue(msg);
+#else
+ memcpy(mission_item, _MAV_PAYLOAD(msg), 37);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_item_reached.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_item_reached.h
new file mode 100644
index 0000000..171f985
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_item_reached.h
@@ -0,0 +1,144 @@
+// MESSAGE MISSION_ITEM_REACHED PACKING
+
+#define MAVLINK_MSG_ID_MISSION_ITEM_REACHED 46
+
+typedef struct __mavlink_mission_item_reached_t
+{
+ uint16_t seq; ///< Sequence
+} mavlink_mission_item_reached_t;
+
+#define MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN 2
+#define MAVLINK_MSG_ID_46_LEN 2
+
+
+
+#define MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED { \
+ "MISSION_ITEM_REACHED", \
+ 1, \
+ { { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_item_reached_t, seq) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a mission_item_reached 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 seq Sequence
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_item_reached_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint16_t seq)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[2];
+ _mav_put_uint16_t(buf, 0, seq);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2);
+#else
+ mavlink_mission_item_reached_t packet;
+ packet.seq = seq;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM_REACHED;
+ return mavlink_finalize_message(msg, system_id, component_id, 2, 11);
+}
+
+/**
+ * @brief Pack a mission_item_reached 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param seq Sequence
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_item_reached_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint16_t seq)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[2];
+ _mav_put_uint16_t(buf, 0, seq);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2);
+#else
+ mavlink_mission_item_reached_t packet;
+ packet.seq = seq;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM_REACHED;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 11);
+}
+
+/**
+ * @brief Encode a mission_item_reached 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 mission_item_reached C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mission_item_reached_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_item_reached_t* mission_item_reached)
+{
+ return mavlink_msg_mission_item_reached_pack(system_id, component_id, msg, mission_item_reached->seq);
+}
+
+/**
+ * @brief Send a mission_item_reached message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param seq Sequence
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_mission_item_reached_send(mavlink_channel_t chan, uint16_t seq)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[2];
+ _mav_put_uint16_t(buf, 0, seq);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, buf, 2, 11);
+#else
+ mavlink_mission_item_reached_t packet;
+ packet.seq = seq;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, (const char *)&packet, 2, 11);
+#endif
+}
+
+#endif
+
+// MESSAGE MISSION_ITEM_REACHED UNPACKING
+
+
+/**
+ * @brief Get field seq from mission_item_reached message
+ *
+ * @return Sequence
+ */
+static inline uint16_t mavlink_msg_mission_item_reached_get_seq(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 0);
+}
+
+/**
+ * @brief Decode a mission_item_reached message into a struct
+ *
+ * @param msg The message to decode
+ * @param mission_item_reached C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_mission_item_reached_decode(const mavlink_message_t* msg, mavlink_mission_item_reached_t* mission_item_reached)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mission_item_reached->seq = mavlink_msg_mission_item_reached_get_seq(msg);
+#else
+ memcpy(mission_item_reached, _MAV_PAYLOAD(msg), 2);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_request.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_request.h
new file mode 100644
index 0000000..cde0a0c
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_request.h
@@ -0,0 +1,188 @@
+// MESSAGE MISSION_REQUEST PACKING
+
+#define MAVLINK_MSG_ID_MISSION_REQUEST 40
+
+typedef struct __mavlink_mission_request_t
+{
+ uint16_t seq; ///< Sequence
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_mission_request_t;
+
+#define MAVLINK_MSG_ID_MISSION_REQUEST_LEN 4
+#define MAVLINK_MSG_ID_40_LEN 4
+
+
+
+#define MAVLINK_MESSAGE_INFO_MISSION_REQUEST { \
+ "MISSION_REQUEST", \
+ 3, \
+ { { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_request_t, seq) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mission_request_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_mission_request_t, target_component) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a mission_request 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_system System ID
+ * @param target_component Component ID
+ * @param seq Sequence
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_request_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, uint16_t seq)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[4];
+ _mav_put_uint16_t(buf, 0, seq);
+ _mav_put_uint8_t(buf, 2, target_system);
+ _mav_put_uint8_t(buf, 3, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
+#else
+ mavlink_mission_request_t packet;
+ packet.seq = seq;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST;
+ return mavlink_finalize_message(msg, system_id, component_id, 4, 230);
+}
+
+/**
+ * @brief Pack a mission_request 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param seq Sequence
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_request_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,uint16_t seq)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[4];
+ _mav_put_uint16_t(buf, 0, seq);
+ _mav_put_uint8_t(buf, 2, target_system);
+ _mav_put_uint8_t(buf, 3, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
+#else
+ mavlink_mission_request_t packet;
+ packet.seq = seq;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 230);
+}
+
+/**
+ * @brief Encode a mission_request 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 mission_request C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mission_request_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_request_t* mission_request)
+{
+ return mavlink_msg_mission_request_pack(system_id, component_id, msg, mission_request->target_system, mission_request->target_component, mission_request->seq);
+}
+
+/**
+ * @brief Send a mission_request message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param seq Sequence
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_mission_request_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[4];
+ _mav_put_uint16_t(buf, 0, seq);
+ _mav_put_uint8_t(buf, 2, target_system);
+ _mav_put_uint8_t(buf, 3, target_component);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST, buf, 4, 230);
+#else
+ mavlink_mission_request_t packet;
+ packet.seq = seq;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST, (const char *)&packet, 4, 230);
+#endif
+}
+
+#endif
+
+// MESSAGE MISSION_REQUEST UNPACKING
+
+
+/**
+ * @brief Get field target_system from mission_request message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_mission_request_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 2);
+}
+
+/**
+ * @brief Get field target_component from mission_request message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_mission_request_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 3);
+}
+
+/**
+ * @brief Get field seq from mission_request message
+ *
+ * @return Sequence
+ */
+static inline uint16_t mavlink_msg_mission_request_get_seq(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 0);
+}
+
+/**
+ * @brief Decode a mission_request message into a struct
+ *
+ * @param msg The message to decode
+ * @param mission_request C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_mission_request_decode(const mavlink_message_t* msg, mavlink_mission_request_t* mission_request)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mission_request->seq = mavlink_msg_mission_request_get_seq(msg);
+ mission_request->target_system = mavlink_msg_mission_request_get_target_system(msg);
+ mission_request->target_component = mavlink_msg_mission_request_get_target_component(msg);
+#else
+ memcpy(mission_request, _MAV_PAYLOAD(msg), 4);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_request_list.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_request_list.h
new file mode 100644
index 0000000..1ada635
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_request_list.h
@@ -0,0 +1,166 @@
+// MESSAGE MISSION_REQUEST_LIST PACKING
+
+#define MAVLINK_MSG_ID_MISSION_REQUEST_LIST 43
+
+typedef struct __mavlink_mission_request_list_t
+{
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_mission_request_list_t;
+
+#define MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN 2
+#define MAVLINK_MSG_ID_43_LEN 2
+
+
+
+#define MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST { \
+ "MISSION_REQUEST_LIST", \
+ 2, \
+ { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mission_request_list_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mission_request_list_t, target_component) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a mission_request_list 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_system System ID
+ * @param target_component Component ID
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[2];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2);
+#else
+ mavlink_mission_request_list_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST_LIST;
+ return mavlink_finalize_message(msg, system_id, component_id, 2, 132);
+}
+
+/**
+ * @brief Pack a mission_request_list 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_request_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[2];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2);
+#else
+ mavlink_mission_request_list_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST_LIST;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 132);
+}
+
+/**
+ * @brief Encode a mission_request_list 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 mission_request_list C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mission_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_request_list_t* mission_request_list)
+{
+ return mavlink_msg_mission_request_list_pack(system_id, component_id, msg, mission_request_list->target_system, mission_request_list->target_component);
+}
+
+/**
+ * @brief Send a mission_request_list message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_mission_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[2];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, buf, 2, 132);
+#else
+ mavlink_mission_request_list_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, (const char *)&packet, 2, 132);
+#endif
+}
+
+#endif
+
+// MESSAGE MISSION_REQUEST_LIST UNPACKING
+
+
+/**
+ * @brief Get field target_system from mission_request_list message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_mission_request_list_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 0);
+}
+
+/**
+ * @brief Get field target_component from mission_request_list message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_mission_request_list_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 1);
+}
+
+/**
+ * @brief Decode a mission_request_list message into a struct
+ *
+ * @param msg The message to decode
+ * @param mission_request_list C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_mission_request_list_decode(const mavlink_message_t* msg, mavlink_mission_request_list_t* mission_request_list)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mission_request_list->target_system = mavlink_msg_mission_request_list_get_target_system(msg);
+ mission_request_list->target_component = mavlink_msg_mission_request_list_get_target_component(msg);
+#else
+ memcpy(mission_request_list, _MAV_PAYLOAD(msg), 2);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_request_partial_list.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_request_partial_list.h
new file mode 100644
index 0000000..76fd43b
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_request_partial_list.h
@@ -0,0 +1,210 @@
+// MESSAGE MISSION_REQUEST_PARTIAL_LIST PACKING
+
+#define MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST 37
+
+typedef struct __mavlink_mission_request_partial_list_t
+{
+ int16_t start_index; ///< Start index, 0 by default
+ int16_t end_index; ///< End index, -1 by default (-1: send list to end). Else a valid index of the list
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_mission_request_partial_list_t;
+
+#define MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN 6
+#define MAVLINK_MSG_ID_37_LEN 6
+
+
+
+#define MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST { \
+ "MISSION_REQUEST_PARTIAL_LIST", \
+ 4, \
+ { { "start_index", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_mission_request_partial_list_t, start_index) }, \
+ { "end_index", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_mission_request_partial_list_t, end_index) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_mission_request_partial_list_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_mission_request_partial_list_t, target_component) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a mission_request_partial_list 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_system System ID
+ * @param target_component Component ID
+ * @param start_index Start index, 0 by default
+ * @param end_index End index, -1 by default (-1: send list to end). Else a valid index of the list
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_request_partial_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, int16_t start_index, int16_t end_index)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[6];
+ _mav_put_int16_t(buf, 0, start_index);
+ _mav_put_int16_t(buf, 2, end_index);
+ _mav_put_uint8_t(buf, 4, target_system);
+ _mav_put_uint8_t(buf, 5, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
+#else
+ mavlink_mission_request_partial_list_t packet;
+ packet.start_index = start_index;
+ packet.end_index = end_index;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST;
+ return mavlink_finalize_message(msg, system_id, component_id, 6, 212);
+}
+
+/**
+ * @brief Pack a mission_request_partial_list 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param start_index Start index, 0 by default
+ * @param end_index End index, -1 by default (-1: send list to end). Else a valid index of the list
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_request_partial_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,int16_t start_index,int16_t end_index)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[6];
+ _mav_put_int16_t(buf, 0, start_index);
+ _mav_put_int16_t(buf, 2, end_index);
+ _mav_put_uint8_t(buf, 4, target_system);
+ _mav_put_uint8_t(buf, 5, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
+#else
+ mavlink_mission_request_partial_list_t packet;
+ packet.start_index = start_index;
+ packet.end_index = end_index;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6, 212);
+}
+
+/**
+ * @brief Encode a mission_request_partial_list 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 mission_request_partial_list C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mission_request_partial_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_request_partial_list_t* mission_request_partial_list)
+{
+ return mavlink_msg_mission_request_partial_list_pack(system_id, component_id, msg, mission_request_partial_list->target_system, mission_request_partial_list->target_component, mission_request_partial_list->start_index, mission_request_partial_list->end_index);
+}
+
+/**
+ * @brief Send a mission_request_partial_list message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param start_index Start index, 0 by default
+ * @param end_index End index, -1 by default (-1: send list to end). Else a valid index of the list
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_mission_request_partial_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t start_index, int16_t end_index)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[6];
+ _mav_put_int16_t(buf, 0, start_index);
+ _mav_put_int16_t(buf, 2, end_index);
+ _mav_put_uint8_t(buf, 4, target_system);
+ _mav_put_uint8_t(buf, 5, target_component);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST, buf, 6, 212);
+#else
+ mavlink_mission_request_partial_list_t packet;
+ packet.start_index = start_index;
+ packet.end_index = end_index;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST, (const char *)&packet, 6, 212);
+#endif
+}
+
+#endif
+
+// MESSAGE MISSION_REQUEST_PARTIAL_LIST UNPACKING
+
+
+/**
+ * @brief Get field target_system from mission_request_partial_list message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_mission_request_partial_list_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 4);
+}
+
+/**
+ * @brief Get field target_component from mission_request_partial_list message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_mission_request_partial_list_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 5);
+}
+
+/**
+ * @brief Get field start_index from mission_request_partial_list message
+ *
+ * @return Start index, 0 by default
+ */
+static inline int16_t mavlink_msg_mission_request_partial_list_get_start_index(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 0);
+}
+
+/**
+ * @brief Get field end_index from mission_request_partial_list message
+ *
+ * @return End index, -1 by default (-1: send list to end). Else a valid index of the list
+ */
+static inline int16_t mavlink_msg_mission_request_partial_list_get_end_index(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 2);
+}
+
+/**
+ * @brief Decode a mission_request_partial_list message into a struct
+ *
+ * @param msg The message to decode
+ * @param mission_request_partial_list C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_mission_request_partial_list_decode(const mavlink_message_t* msg, mavlink_mission_request_partial_list_t* mission_request_partial_list)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mission_request_partial_list->start_index = mavlink_msg_mission_request_partial_list_get_start_index(msg);
+ mission_request_partial_list->end_index = mavlink_msg_mission_request_partial_list_get_end_index(msg);
+ mission_request_partial_list->target_system = mavlink_msg_mission_request_partial_list_get_target_system(msg);
+ mission_request_partial_list->target_component = mavlink_msg_mission_request_partial_list_get_target_component(msg);
+#else
+ memcpy(mission_request_partial_list, _MAV_PAYLOAD(msg), 6);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_set_current.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_set_current.h
new file mode 100644
index 0000000..de0dbcd
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_set_current.h
@@ -0,0 +1,188 @@
+// MESSAGE MISSION_SET_CURRENT PACKING
+
+#define MAVLINK_MSG_ID_MISSION_SET_CURRENT 41
+
+typedef struct __mavlink_mission_set_current_t
+{
+ uint16_t seq; ///< Sequence
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_mission_set_current_t;
+
+#define MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN 4
+#define MAVLINK_MSG_ID_41_LEN 4
+
+
+
+#define MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT { \
+ "MISSION_SET_CURRENT", \
+ 3, \
+ { { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_set_current_t, seq) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mission_set_current_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_mission_set_current_t, target_component) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a mission_set_current 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_system System ID
+ * @param target_component Component ID
+ * @param seq Sequence
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_set_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, uint16_t seq)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[4];
+ _mav_put_uint16_t(buf, 0, seq);
+ _mav_put_uint8_t(buf, 2, target_system);
+ _mav_put_uint8_t(buf, 3, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
+#else
+ mavlink_mission_set_current_t packet;
+ packet.seq = seq;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_SET_CURRENT;
+ return mavlink_finalize_message(msg, system_id, component_id, 4, 28);
+}
+
+/**
+ * @brief Pack a mission_set_current 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param seq Sequence
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_set_current_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,uint16_t seq)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[4];
+ _mav_put_uint16_t(buf, 0, seq);
+ _mav_put_uint8_t(buf, 2, target_system);
+ _mav_put_uint8_t(buf, 3, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
+#else
+ mavlink_mission_set_current_t packet;
+ packet.seq = seq;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_SET_CURRENT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 28);
+}
+
+/**
+ * @brief Encode a mission_set_current 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 mission_set_current C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mission_set_current_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_set_current_t* mission_set_current)
+{
+ return mavlink_msg_mission_set_current_pack(system_id, component_id, msg, mission_set_current->target_system, mission_set_current->target_component, mission_set_current->seq);
+}
+
+/**
+ * @brief Send a mission_set_current message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param seq Sequence
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_mission_set_current_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[4];
+ _mav_put_uint16_t(buf, 0, seq);
+ _mav_put_uint8_t(buf, 2, target_system);
+ _mav_put_uint8_t(buf, 3, target_component);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_SET_CURRENT, buf, 4, 28);
+#else
+ mavlink_mission_set_current_t packet;
+ packet.seq = seq;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_SET_CURRENT, (const char *)&packet, 4, 28);
+#endif
+}
+
+#endif
+
+// MESSAGE MISSION_SET_CURRENT UNPACKING
+
+
+/**
+ * @brief Get field target_system from mission_set_current message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_mission_set_current_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 2);
+}
+
+/**
+ * @brief Get field target_component from mission_set_current message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_mission_set_current_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 3);
+}
+
+/**
+ * @brief Get field seq from mission_set_current message
+ *
+ * @return Sequence
+ */
+static inline uint16_t mavlink_msg_mission_set_current_get_seq(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 0);
+}
+
+/**
+ * @brief Decode a mission_set_current message into a struct
+ *
+ * @param msg The message to decode
+ * @param mission_set_current C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_mission_set_current_decode(const mavlink_message_t* msg, mavlink_mission_set_current_t* mission_set_current)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mission_set_current->seq = mavlink_msg_mission_set_current_get_seq(msg);
+ mission_set_current->target_system = mavlink_msg_mission_set_current_get_target_system(msg);
+ mission_set_current->target_component = mavlink_msg_mission_set_current_get_target_component(msg);
+#else
+ memcpy(mission_set_current, _MAV_PAYLOAD(msg), 4);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_write_partial_list.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_write_partial_list.h
new file mode 100644
index 0000000..0e77569
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_mission_write_partial_list.h
@@ -0,0 +1,210 @@
+// MESSAGE MISSION_WRITE_PARTIAL_LIST PACKING
+
+#define MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST 38
+
+typedef struct __mavlink_mission_write_partial_list_t
+{
+ int16_t start_index; ///< Start index, 0 by default and smaller / equal to the largest index of the current onboard list.
+ int16_t end_index; ///< End index, equal or greater than start index.
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_mission_write_partial_list_t;
+
+#define MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN 6
+#define MAVLINK_MSG_ID_38_LEN 6
+
+
+
+#define MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST { \
+ "MISSION_WRITE_PARTIAL_LIST", \
+ 4, \
+ { { "start_index", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_mission_write_partial_list_t, start_index) }, \
+ { "end_index", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_mission_write_partial_list_t, end_index) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_mission_write_partial_list_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_mission_write_partial_list_t, target_component) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a mission_write_partial_list 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_system System ID
+ * @param target_component Component ID
+ * @param start_index Start index, 0 by default and smaller / equal to the largest index of the current onboard list.
+ * @param end_index End index, equal or greater than start index.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_write_partial_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, int16_t start_index, int16_t end_index)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[6];
+ _mav_put_int16_t(buf, 0, start_index);
+ _mav_put_int16_t(buf, 2, end_index);
+ _mav_put_uint8_t(buf, 4, target_system);
+ _mav_put_uint8_t(buf, 5, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
+#else
+ mavlink_mission_write_partial_list_t packet;
+ packet.start_index = start_index;
+ packet.end_index = end_index;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST;
+ return mavlink_finalize_message(msg, system_id, component_id, 6, 9);
+}
+
+/**
+ * @brief Pack a mission_write_partial_list 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param start_index Start index, 0 by default and smaller / equal to the largest index of the current onboard list.
+ * @param end_index End index, equal or greater than start index.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_mission_write_partial_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,int16_t start_index,int16_t end_index)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[6];
+ _mav_put_int16_t(buf, 0, start_index);
+ _mav_put_int16_t(buf, 2, end_index);
+ _mav_put_uint8_t(buf, 4, target_system);
+ _mav_put_uint8_t(buf, 5, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
+#else
+ mavlink_mission_write_partial_list_t packet;
+ packet.start_index = start_index;
+ packet.end_index = end_index;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6, 9);
+}
+
+/**
+ * @brief Encode a mission_write_partial_list 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 mission_write_partial_list C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mission_write_partial_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_write_partial_list_t* mission_write_partial_list)
+{
+ return mavlink_msg_mission_write_partial_list_pack(system_id, component_id, msg, mission_write_partial_list->target_system, mission_write_partial_list->target_component, mission_write_partial_list->start_index, mission_write_partial_list->end_index);
+}
+
+/**
+ * @brief Send a mission_write_partial_list message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param start_index Start index, 0 by default and smaller / equal to the largest index of the current onboard list.
+ * @param end_index End index, equal or greater than start index.
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_mission_write_partial_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t start_index, int16_t end_index)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[6];
+ _mav_put_int16_t(buf, 0, start_index);
+ _mav_put_int16_t(buf, 2, end_index);
+ _mav_put_uint8_t(buf, 4, target_system);
+ _mav_put_uint8_t(buf, 5, target_component);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST, buf, 6, 9);
+#else
+ mavlink_mission_write_partial_list_t packet;
+ packet.start_index = start_index;
+ packet.end_index = end_index;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST, (const char *)&packet, 6, 9);
+#endif
+}
+
+#endif
+
+// MESSAGE MISSION_WRITE_PARTIAL_LIST UNPACKING
+
+
+/**
+ * @brief Get field target_system from mission_write_partial_list message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_mission_write_partial_list_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 4);
+}
+
+/**
+ * @brief Get field target_component from mission_write_partial_list message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_mission_write_partial_list_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 5);
+}
+
+/**
+ * @brief Get field start_index from mission_write_partial_list message
+ *
+ * @return Start index, 0 by default and smaller / equal to the largest index of the current onboard list.
+ */
+static inline int16_t mavlink_msg_mission_write_partial_list_get_start_index(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 0);
+}
+
+/**
+ * @brief Get field end_index from mission_write_partial_list message
+ *
+ * @return End index, equal or greater than start index.
+ */
+static inline int16_t mavlink_msg_mission_write_partial_list_get_end_index(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 2);
+}
+
+/**
+ * @brief Decode a mission_write_partial_list message into a struct
+ *
+ * @param msg The message to decode
+ * @param mission_write_partial_list C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_mission_write_partial_list_decode(const mavlink_message_t* msg, mavlink_mission_write_partial_list_t* mission_write_partial_list)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mission_write_partial_list->start_index = mavlink_msg_mission_write_partial_list_get_start_index(msg);
+ mission_write_partial_list->end_index = mavlink_msg_mission_write_partial_list_get_end_index(msg);
+ mission_write_partial_list->target_system = mavlink_msg_mission_write_partial_list_get_target_system(msg);
+ mission_write_partial_list->target_component = mavlink_msg_mission_write_partial_list_get_target_component(msg);
+#else
+ memcpy(mission_write_partial_list, _MAV_PAYLOAD(msg), 6);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_named_value_float.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_named_value_float.h
new file mode 100644
index 0000000..23a819e
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_named_value_float.h
@@ -0,0 +1,182 @@
+// MESSAGE NAMED_VALUE_FLOAT PACKING
+
+#define MAVLINK_MSG_ID_NAMED_VALUE_FLOAT 251
+
+typedef struct __mavlink_named_value_float_t
+{
+ uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ float value; ///< Floating point value
+ char name[10]; ///< Name of the debug variable
+} mavlink_named_value_float_t;
+
+#define MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN 18
+#define MAVLINK_MSG_ID_251_LEN 18
+
+#define MAVLINK_MSG_NAMED_VALUE_FLOAT_FIELD_NAME_LEN 10
+
+#define MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT { \
+ "NAMED_VALUE_FLOAT", \
+ 3, \
+ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_named_value_float_t, time_boot_ms) }, \
+ { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_named_value_float_t, value) }, \
+ { "name", NULL, MAVLINK_TYPE_CHAR, 10, 8, offsetof(mavlink_named_value_float_t, name) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a named_value_float 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 time_boot_ms Timestamp (milliseconds since system boot)
+ * @param name Name of the debug variable
+ * @param value Floating point value
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_named_value_float_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint32_t time_boot_ms, const char *name, float value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[18];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, value);
+ _mav_put_char_array(buf, 8, name, 10);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
+#else
+ mavlink_named_value_float_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.value = value;
+ mav_array_memcpy(packet.name, name, sizeof(char)*10);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT;
+ return mavlink_finalize_message(msg, system_id, component_id, 18, 170);
+}
+
+/**
+ * @brief Pack a named_value_float 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param name Name of the debug variable
+ * @param value Floating point value
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_named_value_float_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint32_t time_boot_ms,const char *name,float value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[18];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, value);
+ _mav_put_char_array(buf, 8, name, 10);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
+#else
+ mavlink_named_value_float_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.value = value;
+ mav_array_memcpy(packet.name, name, sizeof(char)*10);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 170);
+}
+
+/**
+ * @brief Encode a named_value_float 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 named_value_float C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_named_value_float_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_named_value_float_t* named_value_float)
+{
+ return mavlink_msg_named_value_float_pack(system_id, component_id, msg, named_value_float->time_boot_ms, named_value_float->name, named_value_float->value);
+}
+
+/**
+ * @brief Send a named_value_float message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param name Name of the debug variable
+ * @param value Floating point value
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_named_value_float_send(mavlink_channel_t chan, uint32_t time_boot_ms, const char *name, float value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[18];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, value);
+ _mav_put_char_array(buf, 8, name, 10);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, buf, 18, 170);
+#else
+ mavlink_named_value_float_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.value = value;
+ mav_array_memcpy(packet.name, name, sizeof(char)*10);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, (const char *)&packet, 18, 170);
+#endif
+}
+
+#endif
+
+// MESSAGE NAMED_VALUE_FLOAT UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from named_value_float message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_named_value_float_get_time_boot_ms(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field name from named_value_float message
+ *
+ * @return Name of the debug variable
+ */
+static inline uint16_t mavlink_msg_named_value_float_get_name(const mavlink_message_t* msg, char *name)
+{
+ return _MAV_RETURN_char_array(msg, name, 10, 8);
+}
+
+/**
+ * @brief Get field value from named_value_float message
+ *
+ * @return Floating point value
+ */
+static inline float mavlink_msg_named_value_float_get_value(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Decode a named_value_float message into a struct
+ *
+ * @param msg The message to decode
+ * @param named_value_float C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_named_value_float_decode(const mavlink_message_t* msg, mavlink_named_value_float_t* named_value_float)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ named_value_float->time_boot_ms = mavlink_msg_named_value_float_get_time_boot_ms(msg);
+ named_value_float->value = mavlink_msg_named_value_float_get_value(msg);
+ mavlink_msg_named_value_float_get_name(msg, named_value_float->name);
+#else
+ memcpy(named_value_float, _MAV_PAYLOAD(msg), 18);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_named_value_int.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_named_value_int.h
new file mode 100644
index 0000000..3c67dff
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_named_value_int.h
@@ -0,0 +1,182 @@
+// MESSAGE NAMED_VALUE_INT PACKING
+
+#define MAVLINK_MSG_ID_NAMED_VALUE_INT 252
+
+typedef struct __mavlink_named_value_int_t
+{
+ uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ int32_t value; ///< Signed integer value
+ char name[10]; ///< Name of the debug variable
+} mavlink_named_value_int_t;
+
+#define MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN 18
+#define MAVLINK_MSG_ID_252_LEN 18
+
+#define MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN 10
+
+#define MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT { \
+ "NAMED_VALUE_INT", \
+ 3, \
+ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_named_value_int_t, time_boot_ms) }, \
+ { "value", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_named_value_int_t, value) }, \
+ { "name", NULL, MAVLINK_TYPE_CHAR, 10, 8, offsetof(mavlink_named_value_int_t, name) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a named_value_int 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 time_boot_ms Timestamp (milliseconds since system boot)
+ * @param name Name of the debug variable
+ * @param value Signed integer value
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_named_value_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint32_t time_boot_ms, const char *name, int32_t value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[18];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_int32_t(buf, 4, value);
+ _mav_put_char_array(buf, 8, name, 10);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
+#else
+ mavlink_named_value_int_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.value = value;
+ mav_array_memcpy(packet.name, name, sizeof(char)*10);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT;
+ return mavlink_finalize_message(msg, system_id, component_id, 18, 44);
+}
+
+/**
+ * @brief Pack a named_value_int 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param name Name of the debug variable
+ * @param value Signed integer value
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_named_value_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint32_t time_boot_ms,const char *name,int32_t value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[18];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_int32_t(buf, 4, value);
+ _mav_put_char_array(buf, 8, name, 10);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
+#else
+ mavlink_named_value_int_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.value = value;
+ mav_array_memcpy(packet.name, name, sizeof(char)*10);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 44);
+}
+
+/**
+ * @brief Encode a named_value_int 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 named_value_int C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_named_value_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_named_value_int_t* named_value_int)
+{
+ return mavlink_msg_named_value_int_pack(system_id, component_id, msg, named_value_int->time_boot_ms, named_value_int->name, named_value_int->value);
+}
+
+/**
+ * @brief Send a named_value_int message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param name Name of the debug variable
+ * @param value Signed integer value
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_named_value_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, const char *name, int32_t value)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[18];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_int32_t(buf, 4, value);
+ _mav_put_char_array(buf, 8, name, 10);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, buf, 18, 44);
+#else
+ mavlink_named_value_int_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.value = value;
+ mav_array_memcpy(packet.name, name, sizeof(char)*10);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, (const char *)&packet, 18, 44);
+#endif
+}
+
+#endif
+
+// MESSAGE NAMED_VALUE_INT UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from named_value_int message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_named_value_int_get_time_boot_ms(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field name from named_value_int message
+ *
+ * @return Name of the debug variable
+ */
+static inline uint16_t mavlink_msg_named_value_int_get_name(const mavlink_message_t* msg, char *name)
+{
+ return _MAV_RETURN_char_array(msg, name, 10, 8);
+}
+
+/**
+ * @brief Get field value from named_value_int message
+ *
+ * @return Signed integer value
+ */
+static inline int32_t mavlink_msg_named_value_int_get_value(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 4);
+}
+
+/**
+ * @brief Decode a named_value_int message into a struct
+ *
+ * @param msg The message to decode
+ * @param named_value_int C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_named_value_int_decode(const mavlink_message_t* msg, mavlink_named_value_int_t* named_value_int)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ named_value_int->time_boot_ms = mavlink_msg_named_value_int_get_time_boot_ms(msg);
+ named_value_int->value = mavlink_msg_named_value_int_get_value(msg);
+ mavlink_msg_named_value_int_get_name(msg, named_value_int->name);
+#else
+ memcpy(named_value_int, _MAV_PAYLOAD(msg), 18);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h
new file mode 100644
index 0000000..028afda
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h
@@ -0,0 +1,298 @@
+// MESSAGE NAV_CONTROLLER_OUTPUT PACKING
+
+#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62
+
+typedef struct __mavlink_nav_controller_output_t
+{
+ float nav_roll; ///< Current desired roll in degrees
+ float nav_pitch; ///< Current desired pitch in degrees
+ float alt_error; ///< Current altitude error in meters
+ float aspd_error; ///< Current airspeed error in meters/second
+ float xtrack_error; ///< Current crosstrack error on x-y plane in meters
+ int16_t nav_bearing; ///< Current desired heading in degrees
+ int16_t target_bearing; ///< Bearing to current MISSION/target in degrees
+ uint16_t wp_dist; ///< Distance to active MISSION in meters
+} mavlink_nav_controller_output_t;
+
+#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN 26
+#define MAVLINK_MSG_ID_62_LEN 26
+
+
+
+#define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT { \
+ "NAV_CONTROLLER_OUTPUT", \
+ 8, \
+ { { "nav_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \
+ { "nav_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \
+ { "alt_error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_nav_controller_output_t, alt_error) }, \
+ { "aspd_error", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \
+ { "xtrack_error", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \
+ { "nav_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \
+ { "target_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \
+ { "wp_dist", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a nav_controller_output 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 nav_roll Current desired roll in degrees
+ * @param nav_pitch Current desired pitch in degrees
+ * @param nav_bearing Current desired heading in degrees
+ * @param target_bearing Bearing to current MISSION/target in degrees
+ * @param wp_dist Distance to active MISSION in meters
+ * @param alt_error Current altitude error in meters
+ * @param aspd_error Current airspeed error in meters/second
+ * @param xtrack_error Current crosstrack error on x-y plane in meters
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[26];
+ _mav_put_float(buf, 0, nav_roll);
+ _mav_put_float(buf, 4, nav_pitch);
+ _mav_put_float(buf, 8, alt_error);
+ _mav_put_float(buf, 12, aspd_error);
+ _mav_put_float(buf, 16, xtrack_error);
+ _mav_put_int16_t(buf, 20, nav_bearing);
+ _mav_put_int16_t(buf, 22, target_bearing);
+ _mav_put_uint16_t(buf, 24, wp_dist);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
+#else
+ mavlink_nav_controller_output_t packet;
+ packet.nav_roll = nav_roll;
+ packet.nav_pitch = nav_pitch;
+ packet.alt_error = alt_error;
+ packet.aspd_error = aspd_error;
+ packet.xtrack_error = xtrack_error;
+ packet.nav_bearing = nav_bearing;
+ packet.target_bearing = target_bearing;
+ packet.wp_dist = wp_dist;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
+ return mavlink_finalize_message(msg, system_id, component_id, 26, 183);
+}
+
+/**
+ * @brief Pack a nav_controller_output 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param nav_roll Current desired roll in degrees
+ * @param nav_pitch Current desired pitch in degrees
+ * @param nav_bearing Current desired heading in degrees
+ * @param target_bearing Bearing to current MISSION/target in degrees
+ * @param wp_dist Distance to active MISSION in meters
+ * @param alt_error Current altitude error in meters
+ * @param aspd_error Current airspeed error in meters/second
+ * @param xtrack_error Current crosstrack error on x-y plane in meters
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ float nav_roll,float nav_pitch,int16_t nav_bearing,int16_t target_bearing,uint16_t wp_dist,float alt_error,float aspd_error,float xtrack_error)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[26];
+ _mav_put_float(buf, 0, nav_roll);
+ _mav_put_float(buf, 4, nav_pitch);
+ _mav_put_float(buf, 8, alt_error);
+ _mav_put_float(buf, 12, aspd_error);
+ _mav_put_float(buf, 16, xtrack_error);
+ _mav_put_int16_t(buf, 20, nav_bearing);
+ _mav_put_int16_t(buf, 22, target_bearing);
+ _mav_put_uint16_t(buf, 24, wp_dist);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
+#else
+ mavlink_nav_controller_output_t packet;
+ packet.nav_roll = nav_roll;
+ packet.nav_pitch = nav_pitch;
+ packet.alt_error = alt_error;
+ packet.aspd_error = aspd_error;
+ packet.xtrack_error = xtrack_error;
+ packet.nav_bearing = nav_bearing;
+ packet.target_bearing = target_bearing;
+ packet.wp_dist = wp_dist;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26, 183);
+}
+
+/**
+ * @brief Encode a nav_controller_output 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 nav_controller_output C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output)
+{
+ return mavlink_msg_nav_controller_output_pack(system_id, component_id, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
+}
+
+/**
+ * @brief Send a nav_controller_output message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param nav_roll Current desired roll in degrees
+ * @param nav_pitch Current desired pitch in degrees
+ * @param nav_bearing Current desired heading in degrees
+ * @param target_bearing Bearing to current MISSION/target in degrees
+ * @param wp_dist Distance to active MISSION in meters
+ * @param alt_error Current altitude error in meters
+ * @param aspd_error Current airspeed error in meters/second
+ * @param xtrack_error Current crosstrack error on x-y plane in meters
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[26];
+ _mav_put_float(buf, 0, nav_roll);
+ _mav_put_float(buf, 4, nav_pitch);
+ _mav_put_float(buf, 8, alt_error);
+ _mav_put_float(buf, 12, aspd_error);
+ _mav_put_float(buf, 16, xtrack_error);
+ _mav_put_int16_t(buf, 20, nav_bearing);
+ _mav_put_int16_t(buf, 22, target_bearing);
+ _mav_put_uint16_t(buf, 24, wp_dist);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, 26, 183);
+#else
+ mavlink_nav_controller_output_t packet;
+ packet.nav_roll = nav_roll;
+ packet.nav_pitch = nav_pitch;
+ packet.alt_error = alt_error;
+ packet.aspd_error = aspd_error;
+ packet.xtrack_error = xtrack_error;
+ packet.nav_bearing = nav_bearing;
+ packet.target_bearing = target_bearing;
+ packet.wp_dist = wp_dist;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)&packet, 26, 183);
+#endif
+}
+
+#endif
+
+// MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING
+
+
+/**
+ * @brief Get field nav_roll from nav_controller_output message
+ *
+ * @return Current desired roll in degrees
+ */
+static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field nav_pitch from nav_controller_output message
+ *
+ * @return Current desired pitch in degrees
+ */
+static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field nav_bearing from nav_controller_output message
+ *
+ * @return Current desired heading in degrees
+ */
+static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 20);
+}
+
+/**
+ * @brief Get field target_bearing from nav_controller_output message
+ *
+ * @return Bearing to current MISSION/target in degrees
+ */
+static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 22);
+}
+
+/**
+ * @brief Get field wp_dist from nav_controller_output message
+ *
+ * @return Distance to active MISSION in meters
+ */
+static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 24);
+}
+
+/**
+ * @brief Get field alt_error from nav_controller_output message
+ *
+ * @return Current altitude error in meters
+ */
+static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field aspd_error from nav_controller_output message
+ *
+ * @return Current airspeed error in meters/second
+ */
+static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field xtrack_error from nav_controller_output message
+ *
+ * @return Current crosstrack error on x-y plane in meters
+ */
+static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Decode a nav_controller_output message into a struct
+ *
+ * @param msg The message to decode
+ * @param nav_controller_output C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t* msg, mavlink_nav_controller_output_t* nav_controller_output)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ nav_controller_output->nav_roll = mavlink_msg_nav_controller_output_get_nav_roll(msg);
+ nav_controller_output->nav_pitch = mavlink_msg_nav_controller_output_get_nav_pitch(msg);
+ nav_controller_output->alt_error = mavlink_msg_nav_controller_output_get_alt_error(msg);
+ nav_controller_output->aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(msg);
+ nav_controller_output->xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(msg);
+ nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg);
+ nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg);
+ nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg);
+#else
+ memcpy(nav_controller_output, _MAV_PAYLOAD(msg), 26);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_optical_flow.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_optical_flow.h
new file mode 100644
index 0000000..b277cab
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_optical_flow.h
@@ -0,0 +1,298 @@
+// MESSAGE OPTICAL_FLOW PACKING
+
+#define MAVLINK_MSG_ID_OPTICAL_FLOW 100
+
+typedef struct __mavlink_optical_flow_t
+{
+ uint64_t time_usec; ///< Timestamp (UNIX)
+ float flow_comp_m_x; ///< Flow in meters in x-sensor direction, angular-speed compensated
+ float flow_comp_m_y; ///< Flow in meters in y-sensor direction, angular-speed compensated
+ float ground_distance; ///< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
+ int16_t flow_x; ///< Flow in pixels in x-sensor direction
+ int16_t flow_y; ///< Flow in pixels in y-sensor direction
+ uint8_t sensor_id; ///< Sensor ID
+ uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
+} mavlink_optical_flow_t;
+
+#define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 26
+#define MAVLINK_MSG_ID_100_LEN 26
+
+
+
+#define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \
+ "OPTICAL_FLOW", \
+ 8, \
+ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \
+ { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \
+ { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \
+ { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \
+ { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \
+ { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \
+ { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \
+ { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a optical_flow 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 time_usec Timestamp (UNIX)
+ * @param sensor_id Sensor ID
+ * @param flow_x Flow in pixels in x-sensor direction
+ * @param flow_y Flow in pixels in y-sensor direction
+ * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
+ * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
+ * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
+ * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[26];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_float(buf, 8, flow_comp_m_x);
+ _mav_put_float(buf, 12, flow_comp_m_y);
+ _mav_put_float(buf, 16, ground_distance);
+ _mav_put_int16_t(buf, 20, flow_x);
+ _mav_put_int16_t(buf, 22, flow_y);
+ _mav_put_uint8_t(buf, 24, sensor_id);
+ _mav_put_uint8_t(buf, 25, quality);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
+#else
+ mavlink_optical_flow_t packet;
+ packet.time_usec = time_usec;
+ packet.flow_comp_m_x = flow_comp_m_x;
+ packet.flow_comp_m_y = flow_comp_m_y;
+ packet.ground_distance = ground_distance;
+ packet.flow_x = flow_x;
+ packet.flow_y = flow_y;
+ packet.sensor_id = sensor_id;
+ packet.quality = quality;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
+ return mavlink_finalize_message(msg, system_id, component_id, 26, 175);
+}
+
+/**
+ * @brief Pack a optical_flow 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_usec Timestamp (UNIX)
+ * @param sensor_id Sensor ID
+ * @param flow_x Flow in pixels in x-sensor direction
+ * @param flow_y Flow in pixels in y-sensor direction
+ * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
+ * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
+ * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
+ * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint64_t time_usec,uint8_t sensor_id,int16_t flow_x,int16_t flow_y,float flow_comp_m_x,float flow_comp_m_y,uint8_t quality,float ground_distance)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[26];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_float(buf, 8, flow_comp_m_x);
+ _mav_put_float(buf, 12, flow_comp_m_y);
+ _mav_put_float(buf, 16, ground_distance);
+ _mav_put_int16_t(buf, 20, flow_x);
+ _mav_put_int16_t(buf, 22, flow_y);
+ _mav_put_uint8_t(buf, 24, sensor_id);
+ _mav_put_uint8_t(buf, 25, quality);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
+#else
+ mavlink_optical_flow_t packet;
+ packet.time_usec = time_usec;
+ packet.flow_comp_m_x = flow_comp_m_x;
+ packet.flow_comp_m_y = flow_comp_m_y;
+ packet.ground_distance = ground_distance;
+ packet.flow_x = flow_x;
+ packet.flow_y = flow_y;
+ packet.sensor_id = sensor_id;
+ packet.quality = quality;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26, 175);
+}
+
+/**
+ * @brief Encode a optical_flow 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 optical_flow C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_optical_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_optical_flow_t* optical_flow)
+{
+ return mavlink_msg_optical_flow_pack(system_id, component_id, msg, optical_flow->time_usec, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->flow_comp_m_x, optical_flow->flow_comp_m_y, optical_flow->quality, optical_flow->ground_distance);
+}
+
+/**
+ * @brief Send a optical_flow message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_usec Timestamp (UNIX)
+ * @param sensor_id Sensor ID
+ * @param flow_x Flow in pixels in x-sensor direction
+ * @param flow_y Flow in pixels in y-sensor direction
+ * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
+ * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
+ * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
+ * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[26];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_float(buf, 8, flow_comp_m_x);
+ _mav_put_float(buf, 12, flow_comp_m_y);
+ _mav_put_float(buf, 16, ground_distance);
+ _mav_put_int16_t(buf, 20, flow_x);
+ _mav_put_int16_t(buf, 22, flow_y);
+ _mav_put_uint8_t(buf, 24, sensor_id);
+ _mav_put_uint8_t(buf, 25, quality);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, 26, 175);
+#else
+ mavlink_optical_flow_t packet;
+ packet.time_usec = time_usec;
+ packet.flow_comp_m_x = flow_comp_m_x;
+ packet.flow_comp_m_y = flow_comp_m_y;
+ packet.ground_distance = ground_distance;
+ packet.flow_x = flow_x;
+ packet.flow_y = flow_y;
+ packet.sensor_id = sensor_id;
+ packet.quality = quality;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, 26, 175);
+#endif
+}
+
+#endif
+
+// MESSAGE OPTICAL_FLOW UNPACKING
+
+
+/**
+ * @brief Get field time_usec from optical_flow message
+ *
+ * @return Timestamp (UNIX)
+ */
+static inline uint64_t mavlink_msg_optical_flow_get_time_usec(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint64_t(msg, 0);
+}
+
+/**
+ * @brief Get field sensor_id from optical_flow message
+ *
+ * @return Sensor ID
+ */
+static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 24);
+}
+
+/**
+ * @brief Get field flow_x from optical_flow message
+ *
+ * @return Flow in pixels in x-sensor direction
+ */
+static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 20);
+}
+
+/**
+ * @brief Get field flow_y from optical_flow message
+ *
+ * @return Flow in pixels in y-sensor direction
+ */
+static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 22);
+}
+
+/**
+ * @brief Get field flow_comp_m_x from optical_flow message
+ *
+ * @return Flow in meters in x-sensor direction, angular-speed compensated
+ */
+static inline float mavlink_msg_optical_flow_get_flow_comp_m_x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field flow_comp_m_y from optical_flow message
+ *
+ * @return Flow in meters in y-sensor direction, angular-speed compensated
+ */
+static inline float mavlink_msg_optical_flow_get_flow_comp_m_y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field quality from optical_flow message
+ *
+ * @return Optical flow quality / confidence. 0: bad, 255: maximum quality
+ */
+static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 25);
+}
+
+/**
+ * @brief Get field ground_distance from optical_flow message
+ *
+ * @return Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
+ */
+static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Decode a optical_flow message into a struct
+ *
+ * @param msg The message to decode
+ * @param optical_flow C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ optical_flow->time_usec = mavlink_msg_optical_flow_get_time_usec(msg);
+ optical_flow->flow_comp_m_x = mavlink_msg_optical_flow_get_flow_comp_m_x(msg);
+ optical_flow->flow_comp_m_y = mavlink_msg_optical_flow_get_flow_comp_m_y(msg);
+ optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg);
+ optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg);
+ optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg);
+ optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg);
+ optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg);
+#else
+ memcpy(optical_flow, _MAV_PAYLOAD(msg), 26);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_request_list.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_request_list.h
new file mode 100644
index 0000000..125df80
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_request_list.h
@@ -0,0 +1,166 @@
+// MESSAGE PARAM_REQUEST_LIST PACKING
+
+#define MAVLINK_MSG_ID_PARAM_REQUEST_LIST 21
+
+typedef struct __mavlink_param_request_list_t
+{
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_param_request_list_t;
+
+#define MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN 2
+#define MAVLINK_MSG_ID_21_LEN 2
+
+
+
+#define MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST { \
+ "PARAM_REQUEST_LIST", \
+ 2, \
+ { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_param_request_list_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_param_request_list_t, target_component) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a param_request_list 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_system System ID
+ * @param target_component Component ID
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_param_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[2];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2);
+#else
+ mavlink_param_request_list_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST;
+ return mavlink_finalize_message(msg, system_id, component_id, 2, 159);
+}
+
+/**
+ * @brief Pack a param_request_list 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_param_request_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[2];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2);
+#else
+ mavlink_param_request_list_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 159);
+}
+
+/**
+ * @brief Encode a param_request_list 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 param_request_list C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_param_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_request_list_t* param_request_list)
+{
+ return mavlink_msg_param_request_list_pack(system_id, component_id, msg, param_request_list->target_system, param_request_list->target_component);
+}
+
+/**
+ * @brief Send a param_request_list message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_param_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[2];
+ _mav_put_uint8_t(buf, 0, target_system);
+ _mav_put_uint8_t(buf, 1, target_component);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, buf, 2, 159);
+#else
+ mavlink_param_request_list_t packet;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, (const char *)&packet, 2, 159);
+#endif
+}
+
+#endif
+
+// MESSAGE PARAM_REQUEST_LIST UNPACKING
+
+
+/**
+ * @brief Get field target_system from param_request_list message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_param_request_list_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 0);
+}
+
+/**
+ * @brief Get field target_component from param_request_list message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_param_request_list_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 1);
+}
+
+/**
+ * @brief Decode a param_request_list message into a struct
+ *
+ * @param msg The message to decode
+ * @param param_request_list C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_param_request_list_decode(const mavlink_message_t* msg, mavlink_param_request_list_t* param_request_list)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ param_request_list->target_system = mavlink_msg_param_request_list_get_target_system(msg);
+ param_request_list->target_component = mavlink_msg_param_request_list_get_target_component(msg);
+#else
+ memcpy(param_request_list, _MAV_PAYLOAD(msg), 2);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_request_read.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_request_read.h
new file mode 100644
index 0000000..1e2594e
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_request_read.h
@@ -0,0 +1,204 @@
+// MESSAGE PARAM_REQUEST_READ PACKING
+
+#define MAVLINK_MSG_ID_PARAM_REQUEST_READ 20
+
+typedef struct __mavlink_param_request_read_t
+{
+ int16_t param_index; ///< Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ char param_id[16]; ///< Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+} mavlink_param_request_read_t;
+
+#define MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN 20
+#define MAVLINK_MSG_ID_20_LEN 20
+
+#define MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN 16
+
+#define MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ { \
+ "PARAM_REQUEST_READ", \
+ 4, \
+ { { "param_index", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_param_request_read_t, param_index) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_param_request_read_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_param_request_read_t, target_component) }, \
+ { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 4, offsetof(mavlink_param_request_read_t, param_id) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a param_request_read 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_system System ID
+ * @param target_component Component ID
+ * @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ * @param param_index Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_param_request_read_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, const char *param_id, int16_t param_index)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[20];
+ _mav_put_int16_t(buf, 0, param_index);
+ _mav_put_uint8_t(buf, 2, target_system);
+ _mav_put_uint8_t(buf, 3, target_component);
+ _mav_put_char_array(buf, 4, param_id, 16);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
+#else
+ mavlink_param_request_read_t packet;
+ packet.param_index = param_index;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ;
+ return mavlink_finalize_message(msg, system_id, component_id, 20, 214);
+}
+
+/**
+ * @brief Pack a param_request_read 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ * @param param_index Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_param_request_read_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,const char *param_id,int16_t param_index)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[20];
+ _mav_put_int16_t(buf, 0, param_index);
+ _mav_put_uint8_t(buf, 2, target_system);
+ _mav_put_uint8_t(buf, 3, target_component);
+ _mav_put_char_array(buf, 4, param_id, 16);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
+#else
+ mavlink_param_request_read_t packet;
+ packet.param_index = param_index;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 214);
+}
+
+/**
+ * @brief Encode a param_request_read 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 param_request_read C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_param_request_read_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_request_read_t* param_request_read)
+{
+ return mavlink_msg_param_request_read_pack(system_id, component_id, msg, param_request_read->target_system, param_request_read->target_component, param_request_read->param_id, param_request_read->param_index);
+}
+
+/**
+ * @brief Send a param_request_read message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ * @param param_index Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_param_request_read_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const char *param_id, int16_t param_index)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[20];
+ _mav_put_int16_t(buf, 0, param_index);
+ _mav_put_uint8_t(buf, 2, target_system);
+ _mav_put_uint8_t(buf, 3, target_component);
+ _mav_put_char_array(buf, 4, param_id, 16);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, buf, 20, 214);
+#else
+ mavlink_param_request_read_t packet;
+ packet.param_index = param_index;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, (const char *)&packet, 20, 214);
+#endif
+}
+
+#endif
+
+// MESSAGE PARAM_REQUEST_READ UNPACKING
+
+
+/**
+ * @brief Get field target_system from param_request_read message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_param_request_read_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 2);
+}
+
+/**
+ * @brief Get field target_component from param_request_read message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_param_request_read_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 3);
+}
+
+/**
+ * @brief Get field param_id from param_request_read message
+ *
+ * @return Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ */
+static inline uint16_t mavlink_msg_param_request_read_get_param_id(const mavlink_message_t* msg, char *param_id)
+{
+ return _MAV_RETURN_char_array(msg, param_id, 16, 4);
+}
+
+/**
+ * @brief Get field param_index from param_request_read message
+ *
+ * @return Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
+ */
+static inline int16_t mavlink_msg_param_request_read_get_param_index(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 0);
+}
+
+/**
+ * @brief Decode a param_request_read message into a struct
+ *
+ * @param msg The message to decode
+ * @param param_request_read C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_param_request_read_decode(const mavlink_message_t* msg, mavlink_param_request_read_t* param_request_read)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ param_request_read->param_index = mavlink_msg_param_request_read_get_param_index(msg);
+ param_request_read->target_system = mavlink_msg_param_request_read_get_target_system(msg);
+ param_request_read->target_component = mavlink_msg_param_request_read_get_target_component(msg);
+ mavlink_msg_param_request_read_get_param_id(msg, param_request_read->param_id);
+#else
+ memcpy(param_request_read, _MAV_PAYLOAD(msg), 20);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_set.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_set.h
new file mode 100644
index 0000000..ea8e38b
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_set.h
@@ -0,0 +1,226 @@
+// MESSAGE PARAM_SET PACKING
+
+#define MAVLINK_MSG_ID_PARAM_SET 23
+
+typedef struct __mavlink_param_set_t
+{
+ float param_value; ///< Onboard parameter value
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ char param_id[16]; ///< Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ uint8_t param_type; ///< Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
+} mavlink_param_set_t;
+
+#define MAVLINK_MSG_ID_PARAM_SET_LEN 23
+#define MAVLINK_MSG_ID_23_LEN 23
+
+#define MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN 16
+
+#define MAVLINK_MESSAGE_INFO_PARAM_SET { \
+ "PARAM_SET", \
+ 5, \
+ { { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_set_t, param_value) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_param_set_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_param_set_t, target_component) }, \
+ { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 6, offsetof(mavlink_param_set_t, param_id) }, \
+ { "param_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 22, offsetof(mavlink_param_set_t, param_type) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a param_set 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_system System ID
+ * @param target_component Component ID
+ * @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ * @param param_value Onboard parameter value
+ * @param param_type Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, const char *param_id, float param_value, uint8_t param_type)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[23];
+ _mav_put_float(buf, 0, param_value);
+ _mav_put_uint8_t(buf, 4, target_system);
+ _mav_put_uint8_t(buf, 5, target_component);
+ _mav_put_uint8_t(buf, 22, param_type);
+ _mav_put_char_array(buf, 6, param_id, 16);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 23);
+#else
+ mavlink_param_set_t packet;
+ packet.param_value = param_value;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.param_type = param_type;
+ mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 23);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_PARAM_SET;
+ return mavlink_finalize_message(msg, system_id, component_id, 23, 168);
+}
+
+/**
+ * @brief Pack a param_set 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ * @param param_value Onboard parameter value
+ * @param param_type Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_param_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,const char *param_id,float param_value,uint8_t param_type)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[23];
+ _mav_put_float(buf, 0, param_value);
+ _mav_put_uint8_t(buf, 4, target_system);
+ _mav_put_uint8_t(buf, 5, target_component);
+ _mav_put_uint8_t(buf, 22, param_type);
+ _mav_put_char_array(buf, 6, param_id, 16);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 23);
+#else
+ mavlink_param_set_t packet;
+ packet.param_value = param_value;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.param_type = param_type;
+ mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 23);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_PARAM_SET;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 23, 168);
+}
+
+/**
+ * @brief Encode a param_set 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 param_set C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_set_t* param_set)
+{
+ return mavlink_msg_param_set_pack(system_id, component_id, msg, param_set->target_system, param_set->target_component, param_set->param_id, param_set->param_value, param_set->param_type);
+}
+
+/**
+ * @brief Send a param_set message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ * @param param_value Onboard parameter value
+ * @param param_type Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const char *param_id, float param_value, uint8_t param_type)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[23];
+ _mav_put_float(buf, 0, param_value);
+ _mav_put_uint8_t(buf, 4, target_system);
+ _mav_put_uint8_t(buf, 5, target_component);
+ _mav_put_uint8_t(buf, 22, param_type);
+ _mav_put_char_array(buf, 6, param_id, 16);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, buf, 23, 168);
+#else
+ mavlink_param_set_t packet;
+ packet.param_value = param_value;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.param_type = param_type;
+ mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, (const char *)&packet, 23, 168);
+#endif
+}
+
+#endif
+
+// MESSAGE PARAM_SET UNPACKING
+
+
+/**
+ * @brief Get field target_system from param_set message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_param_set_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 4);
+}
+
+/**
+ * @brief Get field target_component from param_set message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_param_set_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 5);
+}
+
+/**
+ * @brief Get field param_id from param_set message
+ *
+ * @return Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ */
+static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_t* msg, char *param_id)
+{
+ return _MAV_RETURN_char_array(msg, param_id, 16, 6);
+}
+
+/**
+ * @brief Get field param_value from param_set message
+ *
+ * @return Onboard parameter value
+ */
+static inline float mavlink_msg_param_set_get_param_value(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field param_type from param_set message
+ *
+ * @return Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
+ */
+static inline uint8_t mavlink_msg_param_set_get_param_type(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 22);
+}
+
+/**
+ * @brief Decode a param_set message into a struct
+ *
+ * @param msg The message to decode
+ * @param param_set C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_param_set_decode(const mavlink_message_t* msg, mavlink_param_set_t* param_set)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ param_set->param_value = mavlink_msg_param_set_get_param_value(msg);
+ param_set->target_system = mavlink_msg_param_set_get_target_system(msg);
+ param_set->target_component = mavlink_msg_param_set_get_target_component(msg);
+ mavlink_msg_param_set_get_param_id(msg, param_set->param_id);
+ param_set->param_type = mavlink_msg_param_set_get_param_type(msg);
+#else
+ memcpy(param_set, _MAV_PAYLOAD(msg), 23);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_value.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_value.h
new file mode 100644
index 0000000..3b578be
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_value.h
@@ -0,0 +1,226 @@
+// MESSAGE PARAM_VALUE PACKING
+
+#define MAVLINK_MSG_ID_PARAM_VALUE 22
+
+typedef struct __mavlink_param_value_t
+{
+ float param_value; ///< Onboard parameter value
+ uint16_t param_count; ///< Total number of onboard parameters
+ uint16_t param_index; ///< Index of this onboard parameter
+ char param_id[16]; ///< Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ uint8_t param_type; ///< Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
+} mavlink_param_value_t;
+
+#define MAVLINK_MSG_ID_PARAM_VALUE_LEN 25
+#define MAVLINK_MSG_ID_22_LEN 25
+
+#define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 16
+
+#define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \
+ "PARAM_VALUE", \
+ 5, \
+ { { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_value_t, param_value) }, \
+ { "param_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_param_value_t, param_count) }, \
+ { "param_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_param_value_t, param_index) }, \
+ { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 8, offsetof(mavlink_param_value_t, param_id) }, \
+ { "param_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_param_value_t, param_type) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a param_value 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 param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ * @param param_value Onboard parameter value
+ * @param param_type Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
+ * @param param_count Total number of onboard parameters
+ * @param param_index Index of this onboard parameter
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[25];
+ _mav_put_float(buf, 0, param_value);
+ _mav_put_uint16_t(buf, 4, param_count);
+ _mav_put_uint16_t(buf, 6, param_index);
+ _mav_put_uint8_t(buf, 24, param_type);
+ _mav_put_char_array(buf, 8, param_id, 16);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 25);
+#else
+ mavlink_param_value_t packet;
+ packet.param_value = param_value;
+ packet.param_count = param_count;
+ packet.param_index = param_index;
+ packet.param_type = param_type;
+ mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 25);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
+ return mavlink_finalize_message(msg, system_id, component_id, 25, 220);
+}
+
+/**
+ * @brief Pack a param_value 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ * @param param_value Onboard parameter value
+ * @param param_type Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
+ * @param param_count Total number of onboard parameters
+ * @param param_index Index of this onboard parameter
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ const char *param_id,float param_value,uint8_t param_type,uint16_t param_count,uint16_t param_index)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[25];
+ _mav_put_float(buf, 0, param_value);
+ _mav_put_uint16_t(buf, 4, param_count);
+ _mav_put_uint16_t(buf, 6, param_index);
+ _mav_put_uint8_t(buf, 24, param_type);
+ _mav_put_char_array(buf, 8, param_id, 16);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 25);
+#else
+ mavlink_param_value_t packet;
+ packet.param_value = param_value;
+ packet.param_count = param_count;
+ packet.param_index = param_index;
+ packet.param_type = param_type;
+ mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 25);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 25, 220);
+}
+
+/**
+ * @brief Encode a param_value 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 param_value C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_value_t* param_value)
+{
+ return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index);
+}
+
+/**
+ * @brief Send a param_value message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ * @param param_value Onboard parameter value
+ * @param param_type Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
+ * @param param_count Total number of onboard parameters
+ * @param param_index Index of this onboard parameter
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[25];
+ _mav_put_float(buf, 0, param_value);
+ _mav_put_uint16_t(buf, 4, param_count);
+ _mav_put_uint16_t(buf, 6, param_index);
+ _mav_put_uint8_t(buf, 24, param_type);
+ _mav_put_char_array(buf, 8, param_id, 16);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, 25, 220);
+#else
+ mavlink_param_value_t packet;
+ packet.param_value = param_value;
+ packet.param_count = param_count;
+ packet.param_index = param_index;
+ packet.param_type = param_type;
+ mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)&packet, 25, 220);
+#endif
+}
+
+#endif
+
+// MESSAGE PARAM_VALUE UNPACKING
+
+
+/**
+ * @brief Get field param_id from param_value message
+ *
+ * @return Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ */
+static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, char *param_id)
+{
+ return _MAV_RETURN_char_array(msg, param_id, 16, 8);
+}
+
+/**
+ * @brief Get field param_value from param_value message
+ *
+ * @return Onboard parameter value
+ */
+static inline float mavlink_msg_param_value_get_param_value(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field param_type from param_value message
+ *
+ * @return Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
+ */
+static inline uint8_t mavlink_msg_param_value_get_param_type(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 24);
+}
+
+/**
+ * @brief Get field param_count from param_value message
+ *
+ * @return Total number of onboard parameters
+ */
+static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 4);
+}
+
+/**
+ * @brief Get field param_index from param_value message
+ *
+ * @return Index of this onboard parameter
+ */
+static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 6);
+}
+
+/**
+ * @brief Decode a param_value message into a struct
+ *
+ * @param msg The message to decode
+ * @param param_value C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_param_value_decode(const mavlink_message_t* msg, mavlink_param_value_t* param_value)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ param_value->param_value = mavlink_msg_param_value_get_param_value(msg);
+ param_value->param_count = mavlink_msg_param_value_get_param_count(msg);
+ param_value->param_index = mavlink_msg_param_value_get_param_index(msg);
+ mavlink_msg_param_value_get_param_id(msg, param_value->param_id);
+ param_value->param_type = mavlink_msg_param_value_get_param_type(msg);
+#else
+ memcpy(param_value, _MAV_PAYLOAD(msg), 25);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_ping.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_ping.h
new file mode 100644
index 0000000..3ed1b9d
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_ping.h
@@ -0,0 +1,210 @@
+// MESSAGE PING PACKING
+
+#define MAVLINK_MSG_ID_PING 4
+
+typedef struct __mavlink_ping_t
+{
+ uint64_t time_usec; ///< Unix timestamp in microseconds
+ uint32_t seq; ///< PING sequence
+ uint8_t target_system; ///< 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
+ uint8_t target_component; ///< 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
+} mavlink_ping_t;
+
+#define MAVLINK_MSG_ID_PING_LEN 14
+#define MAVLINK_MSG_ID_4_LEN 14
+
+
+
+#define MAVLINK_MESSAGE_INFO_PING { \
+ "PING", \
+ 4, \
+ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ping_t, time_usec) }, \
+ { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ping_t, seq) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_ping_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_ping_t, target_component) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a ping 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 time_usec Unix timestamp in microseconds
+ * @param seq PING sequence
+ * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
+ * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[14];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_uint32_t(buf, 8, seq);
+ _mav_put_uint8_t(buf, 12, target_system);
+ _mav_put_uint8_t(buf, 13, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 14);
+#else
+ mavlink_ping_t packet;
+ packet.time_usec = time_usec;
+ packet.seq = seq;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 14);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_PING;
+ return mavlink_finalize_message(msg, system_id, component_id, 14, 237);
+}
+
+/**
+ * @brief Pack a ping 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_usec Unix timestamp in microseconds
+ * @param seq PING sequence
+ * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
+ * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint64_t time_usec,uint32_t seq,uint8_t target_system,uint8_t target_component)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[14];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_uint32_t(buf, 8, seq);
+ _mav_put_uint8_t(buf, 12, target_system);
+ _mav_put_uint8_t(buf, 13, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 14);
+#else
+ mavlink_ping_t packet;
+ packet.time_usec = time_usec;
+ packet.seq = seq;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 14);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_PING;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14, 237);
+}
+
+/**
+ * @brief Encode a ping 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 ping C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ping_t* ping)
+{
+ return mavlink_msg_ping_pack(system_id, component_id, msg, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
+}
+
+/**
+ * @brief Send a ping message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_usec Unix timestamp in microseconds
+ * @param seq PING sequence
+ * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
+ * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[14];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_uint32_t(buf, 8, seq);
+ _mav_put_uint8_t(buf, 12, target_system);
+ _mav_put_uint8_t(buf, 13, target_component);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, 14, 237);
+#else
+ mavlink_ping_t packet;
+ packet.time_usec = time_usec;
+ packet.seq = seq;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)&packet, 14, 237);
+#endif
+}
+
+#endif
+
+// MESSAGE PING UNPACKING
+
+
+/**
+ * @brief Get field time_usec from ping message
+ *
+ * @return Unix timestamp in microseconds
+ */
+static inline uint64_t mavlink_msg_ping_get_time_usec(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint64_t(msg, 0);
+}
+
+/**
+ * @brief Get field seq from ping message
+ *
+ * @return PING sequence
+ */
+static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 8);
+}
+
+/**
+ * @brief Get field target_system from ping message
+ *
+ * @return 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
+ */
+static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 12);
+}
+
+/**
+ * @brief Get field target_component from ping message
+ *
+ * @return 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
+ */
+static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 13);
+}
+
+/**
+ * @brief Decode a ping message into a struct
+ *
+ * @param msg The message to decode
+ * @param ping C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ ping->time_usec = mavlink_msg_ping_get_time_usec(msg);
+ ping->seq = mavlink_msg_ping_get_seq(msg);
+ ping->target_system = mavlink_msg_ping_get_target_system(msg);
+ ping->target_component = mavlink_msg_ping_get_target_component(msg);
+#else
+ memcpy(ping, _MAV_PAYLOAD(msg), 14);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_raw_imu.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_raw_imu.h
new file mode 100644
index 0000000..1c1d483
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_raw_imu.h
@@ -0,0 +1,342 @@
+// MESSAGE RAW_IMU PACKING
+
+#define MAVLINK_MSG_ID_RAW_IMU 27
+
+typedef struct __mavlink_raw_imu_t
+{
+ uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ int16_t xacc; ///< X acceleration (raw)
+ int16_t yacc; ///< Y acceleration (raw)
+ int16_t zacc; ///< Z acceleration (raw)
+ int16_t xgyro; ///< Angular speed around X axis (raw)
+ int16_t ygyro; ///< Angular speed around Y axis (raw)
+ int16_t zgyro; ///< Angular speed around Z axis (raw)
+ int16_t xmag; ///< X Magnetic field (raw)
+ int16_t ymag; ///< Y Magnetic field (raw)
+ int16_t zmag; ///< Z Magnetic field (raw)
+} mavlink_raw_imu_t;
+
+#define MAVLINK_MSG_ID_RAW_IMU_LEN 26
+#define MAVLINK_MSG_ID_27_LEN 26
+
+
+
+#define MAVLINK_MESSAGE_INFO_RAW_IMU { \
+ "RAW_IMU", \
+ 10, \
+ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, time_usec) }, \
+ { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \
+ { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \
+ { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \
+ { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \
+ { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \
+ { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \
+ { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \
+ { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \
+ { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a raw_imu 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param xacc X acceleration (raw)
+ * @param yacc Y acceleration (raw)
+ * @param zacc Z acceleration (raw)
+ * @param xgyro Angular speed around X axis (raw)
+ * @param ygyro Angular speed around Y axis (raw)
+ * @param zgyro Angular speed around Z axis (raw)
+ * @param xmag X Magnetic field (raw)
+ * @param ymag Y Magnetic field (raw)
+ * @param zmag Z Magnetic field (raw)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[26];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_int16_t(buf, 8, xacc);
+ _mav_put_int16_t(buf, 10, yacc);
+ _mav_put_int16_t(buf, 12, zacc);
+ _mav_put_int16_t(buf, 14, xgyro);
+ _mav_put_int16_t(buf, 16, ygyro);
+ _mav_put_int16_t(buf, 18, zgyro);
+ _mav_put_int16_t(buf, 20, xmag);
+ _mav_put_int16_t(buf, 22, ymag);
+ _mav_put_int16_t(buf, 24, zmag);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
+#else
+ mavlink_raw_imu_t packet;
+ packet.time_usec = time_usec;
+ packet.xacc = xacc;
+ packet.yacc = yacc;
+ packet.zacc = zacc;
+ packet.xgyro = xgyro;
+ packet.ygyro = ygyro;
+ packet.zgyro = zgyro;
+ packet.xmag = xmag;
+ packet.ymag = ymag;
+ packet.zmag = zmag;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
+ return mavlink_finalize_message(msg, system_id, component_id, 26, 144);
+}
+
+/**
+ * @brief Pack a raw_imu 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param xacc X acceleration (raw)
+ * @param yacc Y acceleration (raw)
+ * @param zacc Z acceleration (raw)
+ * @param xgyro Angular speed around X axis (raw)
+ * @param ygyro Angular speed around Y axis (raw)
+ * @param zgyro Angular speed around Z axis (raw)
+ * @param xmag X Magnetic field (raw)
+ * @param ymag Y Magnetic field (raw)
+ * @param zmag Z Magnetic field (raw)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint64_t time_usec,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[26];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_int16_t(buf, 8, xacc);
+ _mav_put_int16_t(buf, 10, yacc);
+ _mav_put_int16_t(buf, 12, zacc);
+ _mav_put_int16_t(buf, 14, xgyro);
+ _mav_put_int16_t(buf, 16, ygyro);
+ _mav_put_int16_t(buf, 18, zgyro);
+ _mav_put_int16_t(buf, 20, xmag);
+ _mav_put_int16_t(buf, 22, ymag);
+ _mav_put_int16_t(buf, 24, zmag);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
+#else
+ mavlink_raw_imu_t packet;
+ packet.time_usec = time_usec;
+ packet.xacc = xacc;
+ packet.yacc = yacc;
+ packet.zacc = zacc;
+ packet.xgyro = xgyro;
+ packet.ygyro = ygyro;
+ packet.zgyro = zgyro;
+ packet.xmag = xmag;
+ packet.ymag = ymag;
+ packet.zmag = zmag;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26, 144);
+}
+
+/**
+ * @brief Encode a raw_imu 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 raw_imu C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu)
+{
+ return mavlink_msg_raw_imu_pack(system_id, component_id, msg, raw_imu->time_usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag);
+}
+
+/**
+ * @brief Send a raw_imu message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param xacc X acceleration (raw)
+ * @param yacc Y acceleration (raw)
+ * @param zacc Z acceleration (raw)
+ * @param xgyro Angular speed around X axis (raw)
+ * @param ygyro Angular speed around Y axis (raw)
+ * @param zgyro Angular speed around Z axis (raw)
+ * @param xmag X Magnetic field (raw)
+ * @param ymag Y Magnetic field (raw)
+ * @param zmag Z Magnetic field (raw)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[26];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_int16_t(buf, 8, xacc);
+ _mav_put_int16_t(buf, 10, yacc);
+ _mav_put_int16_t(buf, 12, zacc);
+ _mav_put_int16_t(buf, 14, xgyro);
+ _mav_put_int16_t(buf, 16, ygyro);
+ _mav_put_int16_t(buf, 18, zgyro);
+ _mav_put_int16_t(buf, 20, xmag);
+ _mav_put_int16_t(buf, 22, ymag);
+ _mav_put_int16_t(buf, 24, zmag);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, 26, 144);
+#else
+ mavlink_raw_imu_t packet;
+ packet.time_usec = time_usec;
+ packet.xacc = xacc;
+ packet.yacc = yacc;
+ packet.zacc = zacc;
+ packet.xgyro = xgyro;
+ packet.ygyro = ygyro;
+ packet.zgyro = zgyro;
+ packet.xmag = xmag;
+ packet.ymag = ymag;
+ packet.zmag = zmag;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)&packet, 26, 144);
+#endif
+}
+
+#endif
+
+// MESSAGE RAW_IMU UNPACKING
+
+
+/**
+ * @brief Get field time_usec from raw_imu message
+ *
+ * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ */
+static inline uint64_t mavlink_msg_raw_imu_get_time_usec(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint64_t(msg, 0);
+}
+
+/**
+ * @brief Get field xacc from raw_imu message
+ *
+ * @return X acceleration (raw)
+ */
+static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 8);
+}
+
+/**
+ * @brief Get field yacc from raw_imu message
+ *
+ * @return Y acceleration (raw)
+ */
+static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 10);
+}
+
+/**
+ * @brief Get field zacc from raw_imu message
+ *
+ * @return Z acceleration (raw)
+ */
+static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 12);
+}
+
+/**
+ * @brief Get field xgyro from raw_imu message
+ *
+ * @return Angular speed around X axis (raw)
+ */
+static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 14);
+}
+
+/**
+ * @brief Get field ygyro from raw_imu message
+ *
+ * @return Angular speed around Y axis (raw)
+ */
+static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 16);
+}
+
+/**
+ * @brief Get field zgyro from raw_imu message
+ *
+ * @return Angular speed around Z axis (raw)
+ */
+static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 18);
+}
+
+/**
+ * @brief Get field xmag from raw_imu message
+ *
+ * @return X Magnetic field (raw)
+ */
+static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 20);
+}
+
+/**
+ * @brief Get field ymag from raw_imu message
+ *
+ * @return Y Magnetic field (raw)
+ */
+static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 22);
+}
+
+/**
+ * @brief Get field zmag from raw_imu message
+ *
+ * @return Z Magnetic field (raw)
+ */
+static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 24);
+}
+
+/**
+ * @brief Decode a raw_imu message into a struct
+ *
+ * @param msg The message to decode
+ * @param raw_imu C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t* msg, mavlink_raw_imu_t* raw_imu)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ raw_imu->time_usec = mavlink_msg_raw_imu_get_time_usec(msg);
+ raw_imu->xacc = mavlink_msg_raw_imu_get_xacc(msg);
+ raw_imu->yacc = mavlink_msg_raw_imu_get_yacc(msg);
+ raw_imu->zacc = mavlink_msg_raw_imu_get_zacc(msg);
+ raw_imu->xgyro = mavlink_msg_raw_imu_get_xgyro(msg);
+ raw_imu->ygyro = mavlink_msg_raw_imu_get_ygyro(msg);
+ raw_imu->zgyro = mavlink_msg_raw_imu_get_zgyro(msg);
+ raw_imu->xmag = mavlink_msg_raw_imu_get_xmag(msg);
+ raw_imu->ymag = mavlink_msg_raw_imu_get_ymag(msg);
+ raw_imu->zmag = mavlink_msg_raw_imu_get_zmag(msg);
+#else
+ memcpy(raw_imu, _MAV_PAYLOAD(msg), 26);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_raw_pressure.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_raw_pressure.h
new file mode 100644
index 0000000..f3e4e84
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_raw_pressure.h
@@ -0,0 +1,232 @@
+// MESSAGE RAW_PRESSURE PACKING
+
+#define MAVLINK_MSG_ID_RAW_PRESSURE 28
+
+typedef struct __mavlink_raw_pressure_t
+{
+ uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ int16_t press_abs; ///< Absolute pressure (raw)
+ int16_t press_diff1; ///< Differential pressure 1 (raw)
+ int16_t press_diff2; ///< Differential pressure 2 (raw)
+ int16_t temperature; ///< Raw Temperature measurement (raw)
+} mavlink_raw_pressure_t;
+
+#define MAVLINK_MSG_ID_RAW_PRESSURE_LEN 16
+#define MAVLINK_MSG_ID_28_LEN 16
+
+
+
+#define MAVLINK_MESSAGE_INFO_RAW_PRESSURE { \
+ "RAW_PRESSURE", \
+ 5, \
+ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_pressure_t, time_usec) }, \
+ { "press_abs", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_pressure_t, press_abs) }, \
+ { "press_diff1", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_pressure_t, press_diff1) }, \
+ { "press_diff2", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_pressure_t, press_diff2) }, \
+ { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_pressure_t, temperature) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a raw_pressure 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param press_abs Absolute pressure (raw)
+ * @param press_diff1 Differential pressure 1 (raw)
+ * @param press_diff2 Differential pressure 2 (raw)
+ * @param temperature Raw Temperature measurement (raw)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_raw_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint64_t time_usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[16];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_int16_t(buf, 8, press_abs);
+ _mav_put_int16_t(buf, 10, press_diff1);
+ _mav_put_int16_t(buf, 12, press_diff2);
+ _mav_put_int16_t(buf, 14, temperature);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16);
+#else
+ mavlink_raw_pressure_t packet;
+ packet.time_usec = time_usec;
+ packet.press_abs = press_abs;
+ packet.press_diff1 = press_diff1;
+ packet.press_diff2 = press_diff2;
+ packet.temperature = temperature;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE;
+ return mavlink_finalize_message(msg, system_id, component_id, 16, 67);
+}
+
+/**
+ * @brief Pack a raw_pressure 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param press_abs Absolute pressure (raw)
+ * @param press_diff1 Differential pressure 1 (raw)
+ * @param press_diff2 Differential pressure 2 (raw)
+ * @param temperature Raw Temperature measurement (raw)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_raw_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint64_t time_usec,int16_t press_abs,int16_t press_diff1,int16_t press_diff2,int16_t temperature)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[16];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_int16_t(buf, 8, press_abs);
+ _mav_put_int16_t(buf, 10, press_diff1);
+ _mav_put_int16_t(buf, 12, press_diff2);
+ _mav_put_int16_t(buf, 14, temperature);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16);
+#else
+ mavlink_raw_pressure_t packet;
+ packet.time_usec = time_usec;
+ packet.press_abs = press_abs;
+ packet.press_diff1 = press_diff1;
+ packet.press_diff2 = press_diff2;
+ packet.temperature = temperature;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16, 67);
+}
+
+/**
+ * @brief Encode a raw_pressure 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 raw_pressure C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_raw_pressure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_pressure_t* raw_pressure)
+{
+ return mavlink_msg_raw_pressure_pack(system_id, component_id, msg, raw_pressure->time_usec, raw_pressure->press_abs, raw_pressure->press_diff1, raw_pressure->press_diff2, raw_pressure->temperature);
+}
+
+/**
+ * @brief Send a raw_pressure message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param press_abs Absolute pressure (raw)
+ * @param press_diff1 Differential pressure 1 (raw)
+ * @param press_diff2 Differential pressure 2 (raw)
+ * @param temperature Raw Temperature measurement (raw)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_raw_pressure_send(mavlink_channel_t chan, uint64_t time_usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[16];
+ _mav_put_uint64_t(buf, 0, time_usec);
+ _mav_put_int16_t(buf, 8, press_abs);
+ _mav_put_int16_t(buf, 10, press_diff1);
+ _mav_put_int16_t(buf, 12, press_diff2);
+ _mav_put_int16_t(buf, 14, temperature);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, buf, 16, 67);
+#else
+ mavlink_raw_pressure_t packet;
+ packet.time_usec = time_usec;
+ packet.press_abs = press_abs;
+ packet.press_diff1 = press_diff1;
+ packet.press_diff2 = press_diff2;
+ packet.temperature = temperature;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, (const char *)&packet, 16, 67);
+#endif
+}
+
+#endif
+
+// MESSAGE RAW_PRESSURE UNPACKING
+
+
+/**
+ * @brief Get field time_usec from raw_pressure message
+ *
+ * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ */
+static inline uint64_t mavlink_msg_raw_pressure_get_time_usec(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint64_t(msg, 0);
+}
+
+/**
+ * @brief Get field press_abs from raw_pressure message
+ *
+ * @return Absolute pressure (raw)
+ */
+static inline int16_t mavlink_msg_raw_pressure_get_press_abs(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 8);
+}
+
+/**
+ * @brief Get field press_diff1 from raw_pressure message
+ *
+ * @return Differential pressure 1 (raw)
+ */
+static inline int16_t mavlink_msg_raw_pressure_get_press_diff1(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 10);
+}
+
+/**
+ * @brief Get field press_diff2 from raw_pressure message
+ *
+ * @return Differential pressure 2 (raw)
+ */
+static inline int16_t mavlink_msg_raw_pressure_get_press_diff2(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 12);
+}
+
+/**
+ * @brief Get field temperature from raw_pressure message
+ *
+ * @return Raw Temperature measurement (raw)
+ */
+static inline int16_t mavlink_msg_raw_pressure_get_temperature(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 14);
+}
+
+/**
+ * @brief Decode a raw_pressure message into a struct
+ *
+ * @param msg The message to decode
+ * @param raw_pressure C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_raw_pressure_decode(const mavlink_message_t* msg, mavlink_raw_pressure_t* raw_pressure)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ raw_pressure->time_usec = mavlink_msg_raw_pressure_get_time_usec(msg);
+ raw_pressure->press_abs = mavlink_msg_raw_pressure_get_press_abs(msg);
+ raw_pressure->press_diff1 = mavlink_msg_raw_pressure_get_press_diff1(msg);
+ raw_pressure->press_diff2 = mavlink_msg_raw_pressure_get_press_diff2(msg);
+ raw_pressure->temperature = mavlink_msg_raw_pressure_get_temperature(msg);
+#else
+ memcpy(raw_pressure, _MAV_PAYLOAD(msg), 16);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_override.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_override.h
new file mode 100644
index 0000000..d719c7f
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_override.h
@@ -0,0 +1,342 @@
+// MESSAGE RC_CHANNELS_OVERRIDE PACKING
+
+#define MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE 70
+
+typedef struct __mavlink_rc_channels_override_t
+{
+ uint16_t chan1_raw; ///< RC channel 1 value, in microseconds
+ uint16_t chan2_raw; ///< RC channel 2 value, in microseconds
+ uint16_t chan3_raw; ///< RC channel 3 value, in microseconds
+ uint16_t chan4_raw; ///< RC channel 4 value, in microseconds
+ uint16_t chan5_raw; ///< RC channel 5 value, in microseconds
+ uint16_t chan6_raw; ///< RC channel 6 value, in microseconds
+ uint16_t chan7_raw; ///< RC channel 7 value, in microseconds
+ uint16_t chan8_raw; ///< RC channel 8 value, in microseconds
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_rc_channels_override_t;
+
+#define MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN 18
+#define MAVLINK_MSG_ID_70_LEN 18
+
+
+
+#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE { \
+ "RC_CHANNELS_OVERRIDE", \
+ 10, \
+ { { "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_rc_channels_override_t, chan1_raw) }, \
+ { "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_rc_channels_override_t, chan2_raw) }, \
+ { "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_rc_channels_override_t, chan3_raw) }, \
+ { "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_rc_channels_override_t, chan4_raw) }, \
+ { "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_rc_channels_override_t, chan5_raw) }, \
+ { "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_rc_channels_override_t, chan6_raw) }, \
+ { "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rc_channels_override_t, chan7_raw) }, \
+ { "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_rc_channels_override_t, chan8_raw) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rc_channels_override_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_rc_channels_override_t, target_component) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a rc_channels_override 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_system System ID
+ * @param target_component Component ID
+ * @param chan1_raw RC channel 1 value, in microseconds
+ * @param chan2_raw RC channel 2 value, in microseconds
+ * @param chan3_raw RC channel 3 value, in microseconds
+ * @param chan4_raw RC channel 4 value, in microseconds
+ * @param chan5_raw RC channel 5 value, in microseconds
+ * @param chan6_raw RC channel 6 value, in microseconds
+ * @param chan7_raw RC channel 7 value, in microseconds
+ * @param chan8_raw RC channel 8 value, in microseconds
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_rc_channels_override_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[18];
+ _mav_put_uint16_t(buf, 0, chan1_raw);
+ _mav_put_uint16_t(buf, 2, chan2_raw);
+ _mav_put_uint16_t(buf, 4, chan3_raw);
+ _mav_put_uint16_t(buf, 6, chan4_raw);
+ _mav_put_uint16_t(buf, 8, chan5_raw);
+ _mav_put_uint16_t(buf, 10, chan6_raw);
+ _mav_put_uint16_t(buf, 12, chan7_raw);
+ _mav_put_uint16_t(buf, 14, chan8_raw);
+ _mav_put_uint8_t(buf, 16, target_system);
+ _mav_put_uint8_t(buf, 17, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
+#else
+ mavlink_rc_channels_override_t packet;
+ packet.chan1_raw = chan1_raw;
+ packet.chan2_raw = chan2_raw;
+ packet.chan3_raw = chan3_raw;
+ packet.chan4_raw = chan4_raw;
+ packet.chan5_raw = chan5_raw;
+ packet.chan6_raw = chan6_raw;
+ packet.chan7_raw = chan7_raw;
+ packet.chan8_raw = chan8_raw;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE;
+ return mavlink_finalize_message(msg, system_id, component_id, 18, 124);
+}
+
+/**
+ * @brief Pack a rc_channels_override 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param chan1_raw RC channel 1 value, in microseconds
+ * @param chan2_raw RC channel 2 value, in microseconds
+ * @param chan3_raw RC channel 3 value, in microseconds
+ * @param chan4_raw RC channel 4 value, in microseconds
+ * @param chan5_raw RC channel 5 value, in microseconds
+ * @param chan6_raw RC channel 6 value, in microseconds
+ * @param chan7_raw RC channel 7 value, in microseconds
+ * @param chan8_raw RC channel 8 value, in microseconds
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_rc_channels_override_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[18];
+ _mav_put_uint16_t(buf, 0, chan1_raw);
+ _mav_put_uint16_t(buf, 2, chan2_raw);
+ _mav_put_uint16_t(buf, 4, chan3_raw);
+ _mav_put_uint16_t(buf, 6, chan4_raw);
+ _mav_put_uint16_t(buf, 8, chan5_raw);
+ _mav_put_uint16_t(buf, 10, chan6_raw);
+ _mav_put_uint16_t(buf, 12, chan7_raw);
+ _mav_put_uint16_t(buf, 14, chan8_raw);
+ _mav_put_uint8_t(buf, 16, target_system);
+ _mav_put_uint8_t(buf, 17, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
+#else
+ mavlink_rc_channels_override_t packet;
+ packet.chan1_raw = chan1_raw;
+ packet.chan2_raw = chan2_raw;
+ packet.chan3_raw = chan3_raw;
+ packet.chan4_raw = chan4_raw;
+ packet.chan5_raw = chan5_raw;
+ packet.chan6_raw = chan6_raw;
+ packet.chan7_raw = chan7_raw;
+ packet.chan8_raw = chan8_raw;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 124);
+}
+
+/**
+ * @brief Encode a rc_channels_override 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 rc_channels_override C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_rc_channels_override_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_override_t* rc_channels_override)
+{
+ return mavlink_msg_rc_channels_override_pack(system_id, component_id, msg, rc_channels_override->target_system, rc_channels_override->target_component, rc_channels_override->chan1_raw, rc_channels_override->chan2_raw, rc_channels_override->chan3_raw, rc_channels_override->chan4_raw, rc_channels_override->chan5_raw, rc_channels_override->chan6_raw, rc_channels_override->chan7_raw, rc_channels_override->chan8_raw);
+}
+
+/**
+ * @brief Send a rc_channels_override message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param chan1_raw RC channel 1 value, in microseconds
+ * @param chan2_raw RC channel 2 value, in microseconds
+ * @param chan3_raw RC channel 3 value, in microseconds
+ * @param chan4_raw RC channel 4 value, in microseconds
+ * @param chan5_raw RC channel 5 value, in microseconds
+ * @param chan6_raw RC channel 6 value, in microseconds
+ * @param chan7_raw RC channel 7 value, in microseconds
+ * @param chan8_raw RC channel 8 value, in microseconds
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_rc_channels_override_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[18];
+ _mav_put_uint16_t(buf, 0, chan1_raw);
+ _mav_put_uint16_t(buf, 2, chan2_raw);
+ _mav_put_uint16_t(buf, 4, chan3_raw);
+ _mav_put_uint16_t(buf, 6, chan4_raw);
+ _mav_put_uint16_t(buf, 8, chan5_raw);
+ _mav_put_uint16_t(buf, 10, chan6_raw);
+ _mav_put_uint16_t(buf, 12, chan7_raw);
+ _mav_put_uint16_t(buf, 14, chan8_raw);
+ _mav_put_uint8_t(buf, 16, target_system);
+ _mav_put_uint8_t(buf, 17, target_component);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, buf, 18, 124);
+#else
+ mavlink_rc_channels_override_t packet;
+ packet.chan1_raw = chan1_raw;
+ packet.chan2_raw = chan2_raw;
+ packet.chan3_raw = chan3_raw;
+ packet.chan4_raw = chan4_raw;
+ packet.chan5_raw = chan5_raw;
+ packet.chan6_raw = chan6_raw;
+ packet.chan7_raw = chan7_raw;
+ packet.chan8_raw = chan8_raw;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, (const char *)&packet, 18, 124);
+#endif
+}
+
+#endif
+
+// MESSAGE RC_CHANNELS_OVERRIDE UNPACKING
+
+
+/**
+ * @brief Get field target_system from rc_channels_override message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_rc_channels_override_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 16);
+}
+
+/**
+ * @brief Get field target_component from rc_channels_override message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_rc_channels_override_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 17);
+}
+
+/**
+ * @brief Get field chan1_raw from rc_channels_override message
+ *
+ * @return RC channel 1 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_rc_channels_override_get_chan1_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 0);
+}
+
+/**
+ * @brief Get field chan2_raw from rc_channels_override message
+ *
+ * @return RC channel 2 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_rc_channels_override_get_chan2_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 2);
+}
+
+/**
+ * @brief Get field chan3_raw from rc_channels_override message
+ *
+ * @return RC channel 3 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_rc_channels_override_get_chan3_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 4);
+}
+
+/**
+ * @brief Get field chan4_raw from rc_channels_override message
+ *
+ * @return RC channel 4 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_rc_channels_override_get_chan4_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 6);
+}
+
+/**
+ * @brief Get field chan5_raw from rc_channels_override message
+ *
+ * @return RC channel 5 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_rc_channels_override_get_chan5_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 8);
+}
+
+/**
+ * @brief Get field chan6_raw from rc_channels_override message
+ *
+ * @return RC channel 6 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_rc_channels_override_get_chan6_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 10);
+}
+
+/**
+ * @brief Get field chan7_raw from rc_channels_override message
+ *
+ * @return RC channel 7 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_rc_channels_override_get_chan7_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 12);
+}
+
+/**
+ * @brief Get field chan8_raw from rc_channels_override message
+ *
+ * @return RC channel 8 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_rc_channels_override_get_chan8_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 14);
+}
+
+/**
+ * @brief Decode a rc_channels_override message into a struct
+ *
+ * @param msg The message to decode
+ * @param rc_channels_override C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_rc_channels_override_decode(const mavlink_message_t* msg, mavlink_rc_channels_override_t* rc_channels_override)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ rc_channels_override->chan1_raw = mavlink_msg_rc_channels_override_get_chan1_raw(msg);
+ rc_channels_override->chan2_raw = mavlink_msg_rc_channels_override_get_chan2_raw(msg);
+ rc_channels_override->chan3_raw = mavlink_msg_rc_channels_override_get_chan3_raw(msg);
+ rc_channels_override->chan4_raw = mavlink_msg_rc_channels_override_get_chan4_raw(msg);
+ rc_channels_override->chan5_raw = mavlink_msg_rc_channels_override_get_chan5_raw(msg);
+ rc_channels_override->chan6_raw = mavlink_msg_rc_channels_override_get_chan6_raw(msg);
+ rc_channels_override->chan7_raw = mavlink_msg_rc_channels_override_get_chan7_raw(msg);
+ rc_channels_override->chan8_raw = mavlink_msg_rc_channels_override_get_chan8_raw(msg);
+ rc_channels_override->target_system = mavlink_msg_rc_channels_override_get_target_system(msg);
+ rc_channels_override->target_component = mavlink_msg_rc_channels_override_get_target_component(msg);
+#else
+ memcpy(rc_channels_override, _MAV_PAYLOAD(msg), 18);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h
new file mode 100644
index 0000000..a5b2802
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h
@@ -0,0 +1,364 @@
+// MESSAGE RC_CHANNELS_RAW PACKING
+
+#define MAVLINK_MSG_ID_RC_CHANNELS_RAW 35
+
+typedef struct __mavlink_rc_channels_raw_t
+{
+ uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ uint16_t chan1_raw; ///< RC channel 1 value, in microseconds
+ uint16_t chan2_raw; ///< RC channel 2 value, in microseconds
+ uint16_t chan3_raw; ///< RC channel 3 value, in microseconds
+ uint16_t chan4_raw; ///< RC channel 4 value, in microseconds
+ uint16_t chan5_raw; ///< RC channel 5 value, in microseconds
+ uint16_t chan6_raw; ///< RC channel 6 value, in microseconds
+ uint16_t chan7_raw; ///< RC channel 7 value, in microseconds
+ uint16_t chan8_raw; ///< RC channel 8 value, in microseconds
+ uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100%
+} mavlink_rc_channels_raw_t;
+
+#define MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN 22
+#define MAVLINK_MSG_ID_35_LEN 22
+
+
+
+#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW { \
+ "RC_CHANNELS_RAW", \
+ 11, \
+ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_rc_channels_raw_t, time_boot_ms) }, \
+ { "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_rc_channels_raw_t, chan1_raw) }, \
+ { "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_rc_channels_raw_t, chan2_raw) }, \
+ { "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_rc_channels_raw_t, chan3_raw) }, \
+ { "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_rc_channels_raw_t, chan4_raw) }, \
+ { "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rc_channels_raw_t, chan5_raw) }, \
+ { "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_rc_channels_raw_t, chan6_raw) }, \
+ { "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_rc_channels_raw_t, chan7_raw) }, \
+ { "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_rc_channels_raw_t, chan8_raw) }, \
+ { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_rc_channels_raw_t, port) }, \
+ { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_rc_channels_raw_t, rssi) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a rc_channels_raw 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 time_boot_ms Timestamp (milliseconds since system boot)
+ * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ * @param chan1_raw RC channel 1 value, in microseconds
+ * @param chan2_raw RC channel 2 value, in microseconds
+ * @param chan3_raw RC channel 3 value, in microseconds
+ * @param chan4_raw RC channel 4 value, in microseconds
+ * @param chan5_raw RC channel 5 value, in microseconds
+ * @param chan6_raw RC channel 6 value, in microseconds
+ * @param chan7_raw RC channel 7 value, in microseconds
+ * @param chan8_raw RC channel 8 value, in microseconds
+ * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint32_t time_boot_ms, uint8_t port, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[22];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_uint16_t(buf, 4, chan1_raw);
+ _mav_put_uint16_t(buf, 6, chan2_raw);
+ _mav_put_uint16_t(buf, 8, chan3_raw);
+ _mav_put_uint16_t(buf, 10, chan4_raw);
+ _mav_put_uint16_t(buf, 12, chan5_raw);
+ _mav_put_uint16_t(buf, 14, chan6_raw);
+ _mav_put_uint16_t(buf, 16, chan7_raw);
+ _mav_put_uint16_t(buf, 18, chan8_raw);
+ _mav_put_uint8_t(buf, 20, port);
+ _mav_put_uint8_t(buf, 21, rssi);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22);
+#else
+ mavlink_rc_channels_raw_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.chan1_raw = chan1_raw;
+ packet.chan2_raw = chan2_raw;
+ packet.chan3_raw = chan3_raw;
+ packet.chan4_raw = chan4_raw;
+ packet.chan5_raw = chan5_raw;
+ packet.chan6_raw = chan6_raw;
+ packet.chan7_raw = chan7_raw;
+ packet.chan8_raw = chan8_raw;
+ packet.port = port;
+ packet.rssi = rssi;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW;
+ return mavlink_finalize_message(msg, system_id, component_id, 22, 244);
+}
+
+/**
+ * @brief Pack a rc_channels_raw 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ * @param chan1_raw RC channel 1 value, in microseconds
+ * @param chan2_raw RC channel 2 value, in microseconds
+ * @param chan3_raw RC channel 3 value, in microseconds
+ * @param chan4_raw RC channel 4 value, in microseconds
+ * @param chan5_raw RC channel 5 value, in microseconds
+ * @param chan6_raw RC channel 6 value, in microseconds
+ * @param chan7_raw RC channel 7 value, in microseconds
+ * @param chan8_raw RC channel 8 value, in microseconds
+ * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint32_t time_boot_ms,uint8_t port,uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw,uint8_t rssi)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[22];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_uint16_t(buf, 4, chan1_raw);
+ _mav_put_uint16_t(buf, 6, chan2_raw);
+ _mav_put_uint16_t(buf, 8, chan3_raw);
+ _mav_put_uint16_t(buf, 10, chan4_raw);
+ _mav_put_uint16_t(buf, 12, chan5_raw);
+ _mav_put_uint16_t(buf, 14, chan6_raw);
+ _mav_put_uint16_t(buf, 16, chan7_raw);
+ _mav_put_uint16_t(buf, 18, chan8_raw);
+ _mav_put_uint8_t(buf, 20, port);
+ _mav_put_uint8_t(buf, 21, rssi);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22);
+#else
+ mavlink_rc_channels_raw_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.chan1_raw = chan1_raw;
+ packet.chan2_raw = chan2_raw;
+ packet.chan3_raw = chan3_raw;
+ packet.chan4_raw = chan4_raw;
+ packet.chan5_raw = chan5_raw;
+ packet.chan6_raw = chan6_raw;
+ packet.chan7_raw = chan7_raw;
+ packet.chan8_raw = chan8_raw;
+ packet.port = port;
+ packet.rssi = rssi;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 22, 244);
+}
+
+/**
+ * @brief Encode a rc_channels_raw 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 rc_channels_raw C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_rc_channels_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_raw_t* rc_channels_raw)
+{
+ return mavlink_msg_rc_channels_raw_pack(system_id, component_id, msg, rc_channels_raw->time_boot_ms, rc_channels_raw->port, rc_channels_raw->chan1_raw, rc_channels_raw->chan2_raw, rc_channels_raw->chan3_raw, rc_channels_raw->chan4_raw, rc_channels_raw->chan5_raw, rc_channels_raw->chan6_raw, rc_channels_raw->chan7_raw, rc_channels_raw->chan8_raw, rc_channels_raw->rssi);
+}
+
+/**
+ * @brief Send a rc_channels_raw message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ * @param chan1_raw RC channel 1 value, in microseconds
+ * @param chan2_raw RC channel 2 value, in microseconds
+ * @param chan3_raw RC channel 3 value, in microseconds
+ * @param chan4_raw RC channel 4 value, in microseconds
+ * @param chan5_raw RC channel 5 value, in microseconds
+ * @param chan6_raw RC channel 6 value, in microseconds
+ * @param chan7_raw RC channel 7 value, in microseconds
+ * @param chan8_raw RC channel 8 value, in microseconds
+ * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[22];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_uint16_t(buf, 4, chan1_raw);
+ _mav_put_uint16_t(buf, 6, chan2_raw);
+ _mav_put_uint16_t(buf, 8, chan3_raw);
+ _mav_put_uint16_t(buf, 10, chan4_raw);
+ _mav_put_uint16_t(buf, 12, chan5_raw);
+ _mav_put_uint16_t(buf, 14, chan6_raw);
+ _mav_put_uint16_t(buf, 16, chan7_raw);
+ _mav_put_uint16_t(buf, 18, chan8_raw);
+ _mav_put_uint8_t(buf, 20, port);
+ _mav_put_uint8_t(buf, 21, rssi);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, buf, 22, 244);
+#else
+ mavlink_rc_channels_raw_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.chan1_raw = chan1_raw;
+ packet.chan2_raw = chan2_raw;
+ packet.chan3_raw = chan3_raw;
+ packet.chan4_raw = chan4_raw;
+ packet.chan5_raw = chan5_raw;
+ packet.chan6_raw = chan6_raw;
+ packet.chan7_raw = chan7_raw;
+ packet.chan8_raw = chan8_raw;
+ packet.port = port;
+ packet.rssi = rssi;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, (const char *)&packet, 22, 244);
+#endif
+}
+
+#endif
+
+// MESSAGE RC_CHANNELS_RAW UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from rc_channels_raw message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_rc_channels_raw_get_time_boot_ms(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field port from rc_channels_raw message
+ *
+ * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ */
+static inline uint8_t mavlink_msg_rc_channels_raw_get_port(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 20);
+}
+
+/**
+ * @brief Get field chan1_raw from rc_channels_raw message
+ *
+ * @return RC channel 1 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 4);
+}
+
+/**
+ * @brief Get field chan2_raw from rc_channels_raw message
+ *
+ * @return RC channel 2 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 6);
+}
+
+/**
+ * @brief Get field chan3_raw from rc_channels_raw message
+ *
+ * @return RC channel 3 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 8);
+}
+
+/**
+ * @brief Get field chan4_raw from rc_channels_raw message
+ *
+ * @return RC channel 4 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 10);
+}
+
+/**
+ * @brief Get field chan5_raw from rc_channels_raw message
+ *
+ * @return RC channel 5 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 12);
+}
+
+/**
+ * @brief Get field chan6_raw from rc_channels_raw message
+ *
+ * @return RC channel 6 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 14);
+}
+
+/**
+ * @brief Get field chan7_raw from rc_channels_raw message
+ *
+ * @return RC channel 7 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 16);
+}
+
+/**
+ * @brief Get field chan8_raw from rc_channels_raw message
+ *
+ * @return RC channel 8 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 18);
+}
+
+/**
+ * @brief Get field rssi from rc_channels_raw message
+ *
+ * @return Receive signal strength indicator, 0: 0%, 255: 100%
+ */
+static inline uint8_t mavlink_msg_rc_channels_raw_get_rssi(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 21);
+}
+
+/**
+ * @brief Decode a rc_channels_raw message into a struct
+ *
+ * @param msg The message to decode
+ * @param rc_channels_raw C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_rc_channels_raw_decode(const mavlink_message_t* msg, mavlink_rc_channels_raw_t* rc_channels_raw)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ rc_channels_raw->time_boot_ms = mavlink_msg_rc_channels_raw_get_time_boot_ms(msg);
+ rc_channels_raw->chan1_raw = mavlink_msg_rc_channels_raw_get_chan1_raw(msg);
+ rc_channels_raw->chan2_raw = mavlink_msg_rc_channels_raw_get_chan2_raw(msg);
+ rc_channels_raw->chan3_raw = mavlink_msg_rc_channels_raw_get_chan3_raw(msg);
+ rc_channels_raw->chan4_raw = mavlink_msg_rc_channels_raw_get_chan4_raw(msg);
+ rc_channels_raw->chan5_raw = mavlink_msg_rc_channels_raw_get_chan5_raw(msg);
+ rc_channels_raw->chan6_raw = mavlink_msg_rc_channels_raw_get_chan6_raw(msg);
+ rc_channels_raw->chan7_raw = mavlink_msg_rc_channels_raw_get_chan7_raw(msg);
+ rc_channels_raw->chan8_raw = mavlink_msg_rc_channels_raw_get_chan8_raw(msg);
+ rc_channels_raw->port = mavlink_msg_rc_channels_raw_get_port(msg);
+ rc_channels_raw->rssi = mavlink_msg_rc_channels_raw_get_rssi(msg);
+#else
+ memcpy(rc_channels_raw, _MAV_PAYLOAD(msg), 22);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h
new file mode 100644
index 0000000..23c14c0
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h
@@ -0,0 +1,364 @@
+// MESSAGE RC_CHANNELS_SCALED PACKING
+
+#define MAVLINK_MSG_ID_RC_CHANNELS_SCALED 34
+
+typedef struct __mavlink_rc_channels_scaled_t
+{
+ uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ int16_t chan1_scaled; ///< RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ int16_t chan2_scaled; ///< RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ int16_t chan3_scaled; ///< RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ int16_t chan4_scaled; ///< RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ int16_t chan5_scaled; ///< RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ int16_t chan6_scaled; ///< RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ int16_t chan7_scaled; ///< RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ int16_t chan8_scaled; ///< RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100%
+} mavlink_rc_channels_scaled_t;
+
+#define MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN 22
+#define MAVLINK_MSG_ID_34_LEN 22
+
+
+
+#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED { \
+ "RC_CHANNELS_SCALED", \
+ 11, \
+ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_rc_channels_scaled_t, time_boot_ms) }, \
+ { "chan1_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_rc_channels_scaled_t, chan1_scaled) }, \
+ { "chan2_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_rc_channels_scaled_t, chan2_scaled) }, \
+ { "chan3_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_rc_channels_scaled_t, chan3_scaled) }, \
+ { "chan4_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_rc_channels_scaled_t, chan4_scaled) }, \
+ { "chan5_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_rc_channels_scaled_t, chan5_scaled) }, \
+ { "chan6_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_rc_channels_scaled_t, chan6_scaled) }, \
+ { "chan7_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_rc_channels_scaled_t, chan7_scaled) }, \
+ { "chan8_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_rc_channels_scaled_t, chan8_scaled) }, \
+ { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_rc_channels_scaled_t, port) }, \
+ { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_rc_channels_scaled_t, rssi) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a rc_channels_scaled 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 time_boot_ms Timestamp (milliseconds since system boot)
+ * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint32_t time_boot_ms, uint8_t port, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[22];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_int16_t(buf, 4, chan1_scaled);
+ _mav_put_int16_t(buf, 6, chan2_scaled);
+ _mav_put_int16_t(buf, 8, chan3_scaled);
+ _mav_put_int16_t(buf, 10, chan4_scaled);
+ _mav_put_int16_t(buf, 12, chan5_scaled);
+ _mav_put_int16_t(buf, 14, chan6_scaled);
+ _mav_put_int16_t(buf, 16, chan7_scaled);
+ _mav_put_int16_t(buf, 18, chan8_scaled);
+ _mav_put_uint8_t(buf, 20, port);
+ _mav_put_uint8_t(buf, 21, rssi);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22);
+#else
+ mavlink_rc_channels_scaled_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.chan1_scaled = chan1_scaled;
+ packet.chan2_scaled = chan2_scaled;
+ packet.chan3_scaled = chan3_scaled;
+ packet.chan4_scaled = chan4_scaled;
+ packet.chan5_scaled = chan5_scaled;
+ packet.chan6_scaled = chan6_scaled;
+ packet.chan7_scaled = chan7_scaled;
+ packet.chan8_scaled = chan8_scaled;
+ packet.port = port;
+ packet.rssi = rssi;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED;
+ return mavlink_finalize_message(msg, system_id, component_id, 22, 237);
+}
+
+/**
+ * @brief Pack a rc_channels_scaled 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_rc_channels_scaled_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint32_t time_boot_ms,uint8_t port,int16_t chan1_scaled,int16_t chan2_scaled,int16_t chan3_scaled,int16_t chan4_scaled,int16_t chan5_scaled,int16_t chan6_scaled,int16_t chan7_scaled,int16_t chan8_scaled,uint8_t rssi)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[22];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_int16_t(buf, 4, chan1_scaled);
+ _mav_put_int16_t(buf, 6, chan2_scaled);
+ _mav_put_int16_t(buf, 8, chan3_scaled);
+ _mav_put_int16_t(buf, 10, chan4_scaled);
+ _mav_put_int16_t(buf, 12, chan5_scaled);
+ _mav_put_int16_t(buf, 14, chan6_scaled);
+ _mav_put_int16_t(buf, 16, chan7_scaled);
+ _mav_put_int16_t(buf, 18, chan8_scaled);
+ _mav_put_uint8_t(buf, 20, port);
+ _mav_put_uint8_t(buf, 21, rssi);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22);
+#else
+ mavlink_rc_channels_scaled_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.chan1_scaled = chan1_scaled;
+ packet.chan2_scaled = chan2_scaled;
+ packet.chan3_scaled = chan3_scaled;
+ packet.chan4_scaled = chan4_scaled;
+ packet.chan5_scaled = chan5_scaled;
+ packet.chan6_scaled = chan6_scaled;
+ packet.chan7_scaled = chan7_scaled;
+ packet.chan8_scaled = chan8_scaled;
+ packet.port = port;
+ packet.rssi = rssi;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 22, 237);
+}
+
+/**
+ * @brief Encode a rc_channels_scaled 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 rc_channels_scaled C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_rc_channels_scaled_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_scaled_t* rc_channels_scaled)
+{
+ return mavlink_msg_rc_channels_scaled_pack(system_id, component_id, msg, rc_channels_scaled->time_boot_ms, rc_channels_scaled->port, rc_channels_scaled->chan1_scaled, rc_channels_scaled->chan2_scaled, rc_channels_scaled->chan3_scaled, rc_channels_scaled->chan4_scaled, rc_channels_scaled->chan5_scaled, rc_channels_scaled->chan6_scaled, rc_channels_scaled->chan7_scaled, rc_channels_scaled->chan8_scaled, rc_channels_scaled->rssi);
+}
+
+/**
+ * @brief Send a rc_channels_scaled message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[22];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_int16_t(buf, 4, chan1_scaled);
+ _mav_put_int16_t(buf, 6, chan2_scaled);
+ _mav_put_int16_t(buf, 8, chan3_scaled);
+ _mav_put_int16_t(buf, 10, chan4_scaled);
+ _mav_put_int16_t(buf, 12, chan5_scaled);
+ _mav_put_int16_t(buf, 14, chan6_scaled);
+ _mav_put_int16_t(buf, 16, chan7_scaled);
+ _mav_put_int16_t(buf, 18, chan8_scaled);
+ _mav_put_uint8_t(buf, 20, port);
+ _mav_put_uint8_t(buf, 21, rssi);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, buf, 22, 237);
+#else
+ mavlink_rc_channels_scaled_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.chan1_scaled = chan1_scaled;
+ packet.chan2_scaled = chan2_scaled;
+ packet.chan3_scaled = chan3_scaled;
+ packet.chan4_scaled = chan4_scaled;
+ packet.chan5_scaled = chan5_scaled;
+ packet.chan6_scaled = chan6_scaled;
+ packet.chan7_scaled = chan7_scaled;
+ packet.chan8_scaled = chan8_scaled;
+ packet.port = port;
+ packet.rssi = rssi;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, (const char *)&packet, 22, 237);
+#endif
+}
+
+#endif
+
+// MESSAGE RC_CHANNELS_SCALED UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from rc_channels_scaled message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_rc_channels_scaled_get_time_boot_ms(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field port from rc_channels_scaled message
+ *
+ * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ */
+static inline uint8_t mavlink_msg_rc_channels_scaled_get_port(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 20);
+}
+
+/**
+ * @brief Get field chan1_scaled from rc_channels_scaled message
+ *
+ * @return RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ */
+static inline int16_t mavlink_msg_rc_channels_scaled_get_chan1_scaled(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 4);
+}
+
+/**
+ * @brief Get field chan2_scaled from rc_channels_scaled message
+ *
+ * @return RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ */
+static inline int16_t mavlink_msg_rc_channels_scaled_get_chan2_scaled(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 6);
+}
+
+/**
+ * @brief Get field chan3_scaled from rc_channels_scaled message
+ *
+ * @return RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ */
+static inline int16_t mavlink_msg_rc_channels_scaled_get_chan3_scaled(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 8);
+}
+
+/**
+ * @brief Get field chan4_scaled from rc_channels_scaled message
+ *
+ * @return RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ */
+static inline int16_t mavlink_msg_rc_channels_scaled_get_chan4_scaled(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 10);
+}
+
+/**
+ * @brief Get field chan5_scaled from rc_channels_scaled message
+ *
+ * @return RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ */
+static inline int16_t mavlink_msg_rc_channels_scaled_get_chan5_scaled(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 12);
+}
+
+/**
+ * @brief Get field chan6_scaled from rc_channels_scaled message
+ *
+ * @return RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ */
+static inline int16_t mavlink_msg_rc_channels_scaled_get_chan6_scaled(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 14);
+}
+
+/**
+ * @brief Get field chan7_scaled from rc_channels_scaled message
+ *
+ * @return RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ */
+static inline int16_t mavlink_msg_rc_channels_scaled_get_chan7_scaled(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 16);
+}
+
+/**
+ * @brief Get field chan8_scaled from rc_channels_scaled message
+ *
+ * @return RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ */
+static inline int16_t mavlink_msg_rc_channels_scaled_get_chan8_scaled(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 18);
+}
+
+/**
+ * @brief Get field rssi from rc_channels_scaled message
+ *
+ * @return Receive signal strength indicator, 0: 0%, 255: 100%
+ */
+static inline uint8_t mavlink_msg_rc_channels_scaled_get_rssi(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 21);
+}
+
+/**
+ * @brief Decode a rc_channels_scaled message into a struct
+ *
+ * @param msg The message to decode
+ * @param rc_channels_scaled C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_rc_channels_scaled_decode(const mavlink_message_t* msg, mavlink_rc_channels_scaled_t* rc_channels_scaled)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ rc_channels_scaled->time_boot_ms = mavlink_msg_rc_channels_scaled_get_time_boot_ms(msg);
+ rc_channels_scaled->chan1_scaled = mavlink_msg_rc_channels_scaled_get_chan1_scaled(msg);
+ rc_channels_scaled->chan2_scaled = mavlink_msg_rc_channels_scaled_get_chan2_scaled(msg);
+ rc_channels_scaled->chan3_scaled = mavlink_msg_rc_channels_scaled_get_chan3_scaled(msg);
+ rc_channels_scaled->chan4_scaled = mavlink_msg_rc_channels_scaled_get_chan4_scaled(msg);
+ rc_channels_scaled->chan5_scaled = mavlink_msg_rc_channels_scaled_get_chan5_scaled(msg);
+ rc_channels_scaled->chan6_scaled = mavlink_msg_rc_channels_scaled_get_chan6_scaled(msg);
+ rc_channels_scaled->chan7_scaled = mavlink_msg_rc_channels_scaled_get_chan7_scaled(msg);
+ rc_channels_scaled->chan8_scaled = mavlink_msg_rc_channels_scaled_get_chan8_scaled(msg);
+ rc_channels_scaled->port = mavlink_msg_rc_channels_scaled_get_port(msg);
+ rc_channels_scaled->rssi = mavlink_msg_rc_channels_scaled_get_rssi(msg);
+#else
+ memcpy(rc_channels_scaled, _MAV_PAYLOAD(msg), 22);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_request_data_stream.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_request_data_stream.h
new file mode 100644
index 0000000..8247a16
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_request_data_stream.h
@@ -0,0 +1,232 @@
+// MESSAGE REQUEST_DATA_STREAM PACKING
+
+
+#define MAVLINK_MSG_ID_REQUEST_DATA_STREAM 66
+
+typedef struct __mavlink_request_data_stream_t
+{
+ uint16_t req_message_rate; ///< The requested interval between two messages of this type
+ uint8_t target_system; ///< The target requested to send the message stream.
+ uint8_t target_component; ///< The target requested to send the message stream.
+ uint8_t req_stream_id; ///< The ID of the requested data stream
+ uint8_t start_stop; ///< 1 to start sending, 0 to stop sending.
+} mavlink_request_data_stream_t;
+
+#define MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN 6
+#define MAVLINK_MSG_ID_66_LEN 6
+
+
+#define MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM { \
+ "REQUEST_DATA_STREAM", \
+ 5, \
+ { { "req_message_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_request_data_stream_t, req_message_rate) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_request_data_stream_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_request_data_stream_t, target_component) }, \
+ { "req_stream_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_request_data_stream_t, req_stream_id) }, \
+ { "start_stop", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_request_data_stream_t, start_stop) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a request_data_stream 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_system The target requested to send the message stream.
+ * @param target_component The target requested to send the message stream.
+ * @param req_stream_id The ID of the requested data stream
+ * @param req_message_rate The requested interval between two messages of this type
+ * @param start_stop 1 to start sending, 0 to stop sending.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[6];
+ _mav_put_uint16_t(buf, 0, req_message_rate);
+ _mav_put_uint8_t(buf, 2, target_system);
+ _mav_put_uint8_t(buf, 3, target_component);
+ _mav_put_uint8_t(buf, 4, req_stream_id);
+ _mav_put_uint8_t(buf, 5, start_stop);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
+#else
+ mavlink_request_data_stream_t packet;
+ packet.req_message_rate = req_message_rate;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.req_stream_id = req_stream_id;
+ packet.start_stop = start_stop;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM;
+ return mavlink_finalize_message(msg, system_id, component_id, 6, 148);
+}
+
+/**
+ * @brief Pack a request_data_stream 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system The target requested to send the message stream.
+ * @param target_component The target requested to send the message stream.
+ * @param req_stream_id The ID of the requested data stream
+ * @param req_message_rate The requested interval between two messages of this type
+ * @param start_stop 1 to start sending, 0 to stop sending.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_request_data_stream_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,uint8_t req_stream_id,uint16_t req_message_rate,uint8_t start_stop)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[6];
+ _mav_put_uint16_t(buf, 0, req_message_rate);
+ _mav_put_uint8_t(buf, 2, target_system);
+ _mav_put_uint8_t(buf, 3, target_component);
+ _mav_put_uint8_t(buf, 4, req_stream_id);
+ _mav_put_uint8_t(buf, 5, start_stop);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
+#else
+ mavlink_request_data_stream_t packet;
+ packet.req_message_rate = req_message_rate;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.req_stream_id = req_stream_id;
+ packet.start_stop = start_stop;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6, 148);
+}
+
+/**
+ * @brief Encode a request_data_stream 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 request_data_stream C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_request_data_stream_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_request_data_stream_t* request_data_stream)
+{
+ return mavlink_msg_request_data_stream_pack(system_id, component_id, msg, request_data_stream->target_system, request_data_stream->target_component, request_data_stream->req_stream_id, request_data_stream->req_message_rate, request_data_stream->start_stop);
+}
+
+/**
+ * @brief Send a request_data_stream message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system The target requested to send the message stream.
+ * @param target_component The target requested to send the message stream.
+ * @param req_stream_id The ID of the requested data stream
+ * @param req_message_rate The requested interval between two messages of this type
+ * @param start_stop 1 to start sending, 0 to stop sending.
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_request_data_stream_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[6];
+ _mav_put_uint16_t(buf, 0, req_message_rate);
+ _mav_put_uint8_t(buf, 2, target_system);
+ _mav_put_uint8_t(buf, 3, target_component);
+ _mav_put_uint8_t(buf, 4, req_stream_id);
+ _mav_put_uint8_t(buf, 5, start_stop);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, buf, 6, 148);
+#else
+ mavlink_request_data_stream_t packet;
+ packet.req_message_rate = req_message_rate;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.req_stream_id = req_stream_id;
+ packet.start_stop = start_stop;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, (const char *)&packet, 6, 148);
+#endif
+}
+
+#endif
+
+// MESSAGE REQUEST_DATA_STREAM UNPACKING
+
+
+/**
+ * @brief Get field target_system from request_data_stream message
+ *
+ * @return The target requested to send the message stream.
+ */
+static inline uint8_t mavlink_msg_request_data_stream_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 2);
+}
+
+/**
+ * @brief Get field target_component from request_data_stream message
+ *
+ * @return The target requested to send the message stream.
+ */
+static inline uint8_t mavlink_msg_request_data_stream_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 3);
+}
+
+/**
+ * @brief Get field req_stream_id from request_data_stream message
+ *
+ * @return The ID of the requested data stream
+ */
+static inline uint8_t mavlink_msg_request_data_stream_get_req_stream_id(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 4);
+}
+
+/**
+ * @brief Get field req_message_rate from request_data_stream message
+ *
+ * @return The requested interval between two messages of this type
+ */
+static inline uint16_t mavlink_msg_request_data_stream_get_req_message_rate(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 0);
+}
+
+/**
+ * @brief Get field start_stop from request_data_stream message
+ *
+ * @return 1 to start sending, 0 to stop sending.
+ */
+static inline uint8_t mavlink_msg_request_data_stream_get_start_stop(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 5);
+}
+
+/**
+ * @brief Decode a request_data_stream message into a struct
+ *
+ * @param msg The message to decode
+ * @param request_data_stream C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_request_data_stream_decode(const mavlink_message_t* msg, mavlink_request_data_stream_t* request_data_stream)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ request_data_stream->req_message_rate = mavlink_msg_request_data_stream_get_req_message_rate(msg);
+ request_data_stream->target_system = mavlink_msg_request_data_stream_get_target_system(msg);
+ request_data_stream->target_component = mavlink_msg_request_data_stream_get_target_component(msg);
+ request_data_stream->req_stream_id = mavlink_msg_request_data_stream_get_req_stream_id(msg);
+ request_data_stream->start_stop = mavlink_msg_request_data_stream_get_start_stop(msg);
+#else
+ memcpy(request_data_stream, _MAV_PAYLOAD(msg), 6);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h
new file mode 100644
index 0000000..5751bad
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h
@@ -0,0 +1,232 @@
+// MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT PACKING
+
+#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT 59
+
+typedef struct __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t
+{
+ uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot
+ float roll_speed; ///< Desired roll angular speed in rad/s
+ float pitch_speed; ///< Desired pitch angular speed in rad/s
+ float yaw_speed; ///< Desired yaw angular speed in rad/s
+ float thrust; ///< Collective thrust, normalized to 0 .. 1
+} mavlink_roll_pitch_yaw_speed_thrust_setpoint_t;
+
+#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN 20
+#define MAVLINK_MSG_ID_59_LEN 20
+
+
+
+#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT { \
+ "ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT", \
+ 5, \
+ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, time_boot_ms) }, \
+ { "roll_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, roll_speed) }, \
+ { "pitch_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, pitch_speed) }, \
+ { "yaw_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, yaw_speed) }, \
+ { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, thrust) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a roll_pitch_yaw_speed_thrust_setpoint 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 time_boot_ms Timestamp in milliseconds since system boot
+ * @param roll_speed Desired roll angular speed in rad/s
+ * @param pitch_speed Desired pitch angular speed in rad/s
+ * @param yaw_speed Desired yaw angular speed in rad/s
+ * @param thrust Collective thrust, normalized to 0 .. 1
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint32_t time_boot_ms, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[20];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, roll_speed);
+ _mav_put_float(buf, 8, pitch_speed);
+ _mav_put_float(buf, 12, yaw_speed);
+ _mav_put_float(buf, 16, thrust);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
+#else
+ mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.roll_speed = roll_speed;
+ packet.pitch_speed = pitch_speed;
+ packet.yaw_speed = yaw_speed;
+ packet.thrust = thrust;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
+ return mavlink_finalize_message(msg, system_id, component_id, 20, 238);
+}
+
+/**
+ * @brief Pack a roll_pitch_yaw_speed_thrust_setpoint 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp in milliseconds since system boot
+ * @param roll_speed Desired roll angular speed in rad/s
+ * @param pitch_speed Desired pitch angular speed in rad/s
+ * @param yaw_speed Desired yaw angular speed in rad/s
+ * @param thrust Collective thrust, normalized to 0 .. 1
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint32_t time_boot_ms,float roll_speed,float pitch_speed,float yaw_speed,float thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[20];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, roll_speed);
+ _mav_put_float(buf, 8, pitch_speed);
+ _mav_put_float(buf, 12, yaw_speed);
+ _mav_put_float(buf, 16, thrust);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
+#else
+ mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.roll_speed = roll_speed;
+ packet.pitch_speed = pitch_speed;
+ packet.yaw_speed = yaw_speed;
+ packet.thrust = thrust;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 238);
+}
+
+/**
+ * @brief Encode a roll_pitch_yaw_speed_thrust_setpoint 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 roll_pitch_yaw_speed_thrust_setpoint C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
+{
+ return mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_speed_thrust_setpoint->time_boot_ms, roll_pitch_yaw_speed_thrust_setpoint->roll_speed, roll_pitch_yaw_speed_thrust_setpoint->pitch_speed, roll_pitch_yaw_speed_thrust_setpoint->yaw_speed, roll_pitch_yaw_speed_thrust_setpoint->thrust);
+}
+
+/**
+ * @brief Send a roll_pitch_yaw_speed_thrust_setpoint message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp in milliseconds since system boot
+ * @param roll_speed Desired roll angular speed in rad/s
+ * @param pitch_speed Desired pitch angular speed in rad/s
+ * @param yaw_speed Desired yaw angular speed in rad/s
+ * @param thrust Collective thrust, normalized to 0 .. 1
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[20];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, roll_speed);
+ _mav_put_float(buf, 8, pitch_speed);
+ _mav_put_float(buf, 12, yaw_speed);
+ _mav_put_float(buf, 16, thrust);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, buf, 20, 238);
+#else
+ mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.roll_speed = roll_speed;
+ packet.pitch_speed = pitch_speed;
+ packet.yaw_speed = yaw_speed;
+ packet.thrust = thrust;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, (const char *)&packet, 20, 238);
+#endif
+}
+
+#endif
+
+// MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from roll_pitch_yaw_speed_thrust_setpoint message
+ *
+ * @return Timestamp in milliseconds since system boot
+ */
+static inline uint32_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_boot_ms(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field roll_speed from roll_pitch_yaw_speed_thrust_setpoint message
+ *
+ * @return Desired roll angular speed in rad/s
+ */
+static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field pitch_speed from roll_pitch_yaw_speed_thrust_setpoint message
+ *
+ * @return Desired pitch angular speed in rad/s
+ */
+static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field yaw_speed from roll_pitch_yaw_speed_thrust_setpoint message
+ *
+ * @return Desired yaw angular speed in rad/s
+ */
+static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field thrust from roll_pitch_yaw_speed_thrust_setpoint message
+ *
+ * @return Collective thrust, normalized to 0 .. 1
+ */
+static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Decode a roll_pitch_yaw_speed_thrust_setpoint message into a struct
+ *
+ * @param msg The message to decode
+ * @param roll_pitch_yaw_speed_thrust_setpoint C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ roll_pitch_yaw_speed_thrust_setpoint->time_boot_ms = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_boot_ms(msg);
+ roll_pitch_yaw_speed_thrust_setpoint->roll_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(msg);
+ roll_pitch_yaw_speed_thrust_setpoint->pitch_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(msg);
+ roll_pitch_yaw_speed_thrust_setpoint->yaw_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(msg);
+ roll_pitch_yaw_speed_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(msg);
+#else
+ memcpy(roll_pitch_yaw_speed_thrust_setpoint, _MAV_PAYLOAD(msg), 20);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h
new file mode 100644
index 0000000..a9f6ad0
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h
@@ -0,0 +1,232 @@
+// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT PACKING
+
+#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT 58
+
+typedef struct __mavlink_roll_pitch_yaw_thrust_setpoint_t
+{
+ uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot
+ float roll; ///< Desired roll angle in radians
+ float pitch; ///< Desired pitch angle in radians
+ float yaw; ///< Desired yaw angle in radians
+ float thrust; ///< Collective thrust, normalized to 0 .. 1
+} mavlink_roll_pitch_yaw_thrust_setpoint_t;
+
+#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN 20
+#define MAVLINK_MSG_ID_58_LEN 20
+
+
+
+#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT { \
+ "ROLL_PITCH_YAW_THRUST_SETPOINT", \
+ 5, \
+ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, time_boot_ms) }, \
+ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, roll) }, \
+ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, pitch) }, \
+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, yaw) }, \
+ { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, thrust) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a roll_pitch_yaw_thrust_setpoint 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 time_boot_ms Timestamp in milliseconds since system boot
+ * @param roll Desired roll angle in radians
+ * @param pitch Desired pitch angle in radians
+ * @param yaw Desired yaw angle in radians
+ * @param thrust Collective thrust, normalized to 0 .. 1
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[20];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, roll);
+ _mav_put_float(buf, 8, pitch);
+ _mav_put_float(buf, 12, yaw);
+ _mav_put_float(buf, 16, thrust);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
+#else
+ mavlink_roll_pitch_yaw_thrust_setpoint_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.thrust = thrust;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;
+ return mavlink_finalize_message(msg, system_id, component_id, 20, 239);
+}
+
+/**
+ * @brief Pack a roll_pitch_yaw_thrust_setpoint 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp in milliseconds since system boot
+ * @param roll Desired roll angle in radians
+ * @param pitch Desired pitch angle in radians
+ * @param yaw Desired yaw angle in radians
+ * @param thrust Collective thrust, normalized to 0 .. 1
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint32_t time_boot_ms,float roll,float pitch,float yaw,float thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[20];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, roll);
+ _mav_put_float(buf, 8, pitch);
+ _mav_put_float(buf, 12, yaw);
+ _mav_put_float(buf, 16, thrust);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
+#else
+ mavlink_roll_pitch_yaw_thrust_setpoint_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.thrust = thrust;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 239);
+}
+
+/**
+ * @brief Encode a roll_pitch_yaw_thrust_setpoint 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 roll_pitch_yaw_thrust_setpoint C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint)
+{
+ return mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_thrust_setpoint->time_boot_ms, roll_pitch_yaw_thrust_setpoint->roll, roll_pitch_yaw_thrust_setpoint->pitch, roll_pitch_yaw_thrust_setpoint->yaw, roll_pitch_yaw_thrust_setpoint->thrust);
+}
+
+/**
+ * @brief Send a roll_pitch_yaw_thrust_setpoint message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp in milliseconds since system boot
+ * @param roll Desired roll angle in radians
+ * @param pitch Desired pitch angle in radians
+ * @param yaw Desired yaw angle in radians
+ * @param thrust Collective thrust, normalized to 0 .. 1
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[20];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, roll);
+ _mav_put_float(buf, 8, pitch);
+ _mav_put_float(buf, 12, yaw);
+ _mav_put_float(buf, 16, thrust);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, buf, 20, 239);
+#else
+ mavlink_roll_pitch_yaw_thrust_setpoint_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.thrust = thrust;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, (const char *)&packet, 20, 239);
+#endif
+}
+
+#endif
+
+// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from roll_pitch_yaw_thrust_setpoint message
+ *
+ * @return Timestamp in milliseconds since system boot
+ */
+static inline uint32_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_boot_ms(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field roll from roll_pitch_yaw_thrust_setpoint message
+ *
+ * @return Desired roll angle in radians
+ */
+static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field pitch from roll_pitch_yaw_thrust_setpoint message
+ *
+ * @return Desired pitch angle in radians
+ */
+static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field yaw from roll_pitch_yaw_thrust_setpoint message
+ *
+ * @return Desired yaw angle in radians
+ */
+static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field thrust from roll_pitch_yaw_thrust_setpoint message
+ *
+ * @return Collective thrust, normalized to 0 .. 1
+ */
+static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Decode a roll_pitch_yaw_thrust_setpoint message into a struct
+ *
+ * @param msg The message to decode
+ * @param roll_pitch_yaw_thrust_setpoint C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ roll_pitch_yaw_thrust_setpoint->time_boot_ms = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_boot_ms(msg);
+ roll_pitch_yaw_thrust_setpoint->roll = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(msg);
+ roll_pitch_yaw_thrust_setpoint->pitch = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(msg);
+ roll_pitch_yaw_thrust_setpoint->yaw = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(msg);
+ roll_pitch_yaw_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(msg);
+#else
+ memcpy(roll_pitch_yaw_thrust_setpoint, _MAV_PAYLOAD(msg), 20);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_safety_allowed_area.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_safety_allowed_area.h
new file mode 100644
index 0000000..aae6fd2
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_safety_allowed_area.h
@@ -0,0 +1,276 @@
+// MESSAGE SAFETY_ALLOWED_AREA PACKING
+
+#define MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA 55
+
+typedef struct __mavlink_safety_allowed_area_t
+{
+ float p1x; ///< x position 1 / Latitude 1
+ float p1y; ///< y position 1 / Longitude 1
+ float p1z; ///< z position 1 / Altitude 1
+ float p2x; ///< x position 2 / Latitude 2
+ float p2y; ///< y position 2 / Longitude 2
+ float p2z; ///< z position 2 / Altitude 2
+ uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
+} mavlink_safety_allowed_area_t;
+
+#define MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN 25
+#define MAVLINK_MSG_ID_55_LEN 25
+
+
+
+#define MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA { \
+ "SAFETY_ALLOWED_AREA", \
+ 7, \
+ { { "p1x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_safety_allowed_area_t, p1x) }, \
+ { "p1y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_safety_allowed_area_t, p1y) }, \
+ { "p1z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_safety_allowed_area_t, p1z) }, \
+ { "p2x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_safety_allowed_area_t, p2x) }, \
+ { "p2y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_safety_allowed_area_t, p2y) }, \
+ { "p2z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_safety_allowed_area_t, p2z) }, \
+ { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_safety_allowed_area_t, frame) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a safety_allowed_area 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 frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
+ * @param p1x x position 1 / Latitude 1
+ * @param p1y y position 1 / Longitude 1
+ * @param p1z z position 1 / Altitude 1
+ * @param p2x x position 2 / Latitude 2
+ * @param p2y y position 2 / Longitude 2
+ * @param p2z z position 2 / Altitude 2
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_safety_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[25];
+ _mav_put_float(buf, 0, p1x);
+ _mav_put_float(buf, 4, p1y);
+ _mav_put_float(buf, 8, p1z);
+ _mav_put_float(buf, 12, p2x);
+ _mav_put_float(buf, 16, p2y);
+ _mav_put_float(buf, 20, p2z);
+ _mav_put_uint8_t(buf, 24, frame);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 25);
+#else
+ mavlink_safety_allowed_area_t packet;
+ packet.p1x = p1x;
+ packet.p1y = p1y;
+ packet.p1z = p1z;
+ packet.p2x = p2x;
+ packet.p2y = p2y;
+ packet.p2z = p2z;
+ packet.frame = frame;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 25);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA;
+ return mavlink_finalize_message(msg, system_id, component_id, 25, 3);
+}
+
+/**
+ * @brief Pack a safety_allowed_area 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
+ * @param p1x x position 1 / Latitude 1
+ * @param p1y y position 1 / Longitude 1
+ * @param p1z z position 1 / Altitude 1
+ * @param p2x x position 2 / Latitude 2
+ * @param p2y y position 2 / Longitude 2
+ * @param p2z z position 2 / Altitude 2
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_safety_allowed_area_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t frame,float p1x,float p1y,float p1z,float p2x,float p2y,float p2z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[25];
+ _mav_put_float(buf, 0, p1x);
+ _mav_put_float(buf, 4, p1y);
+ _mav_put_float(buf, 8, p1z);
+ _mav_put_float(buf, 12, p2x);
+ _mav_put_float(buf, 16, p2y);
+ _mav_put_float(buf, 20, p2z);
+ _mav_put_uint8_t(buf, 24, frame);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 25);
+#else
+ mavlink_safety_allowed_area_t packet;
+ packet.p1x = p1x;
+ packet.p1y = p1y;
+ packet.p1z = p1z;
+ packet.p2x = p2x;
+ packet.p2y = p2y;
+ packet.p2z = p2z;
+ packet.frame = frame;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 25);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 25, 3);
+}
+
+/**
+ * @brief Encode a safety_allowed_area 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 safety_allowed_area C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_safety_allowed_area_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_safety_allowed_area_t* safety_allowed_area)
+{
+ return mavlink_msg_safety_allowed_area_pack(system_id, component_id, msg, safety_allowed_area->frame, safety_allowed_area->p1x, safety_allowed_area->p1y, safety_allowed_area->p1z, safety_allowed_area->p2x, safety_allowed_area->p2y, safety_allowed_area->p2z);
+}
+
+/**
+ * @brief Send a safety_allowed_area message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
+ * @param p1x x position 1 / Latitude 1
+ * @param p1y y position 1 / Longitude 1
+ * @param p1z z position 1 / Altitude 1
+ * @param p2x x position 2 / Latitude 2
+ * @param p2y y position 2 / Longitude 2
+ * @param p2z z position 2 / Altitude 2
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_safety_allowed_area_send(mavlink_channel_t chan, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[25];
+ _mav_put_float(buf, 0, p1x);
+ _mav_put_float(buf, 4, p1y);
+ _mav_put_float(buf, 8, p1z);
+ _mav_put_float(buf, 12, p2x);
+ _mav_put_float(buf, 16, p2y);
+ _mav_put_float(buf, 20, p2z);
+ _mav_put_uint8_t(buf, 24, frame);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, buf, 25, 3);
+#else
+ mavlink_safety_allowed_area_t packet;
+ packet.p1x = p1x;
+ packet.p1y = p1y;
+ packet.p1z = p1z;
+ packet.p2x = p2x;
+ packet.p2y = p2y;
+ packet.p2z = p2z;
+ packet.frame = frame;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, (const char *)&packet, 25, 3);
+#endif
+}
+
+#endif
+
+// MESSAGE SAFETY_ALLOWED_AREA UNPACKING
+
+
+/**
+ * @brief Get field frame from safety_allowed_area message
+ *
+ * @return Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
+ */
+static inline uint8_t mavlink_msg_safety_allowed_area_get_frame(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 24);
+}
+
+/**
+ * @brief Get field p1x from safety_allowed_area message
+ *
+ * @return x position 1 / Latitude 1
+ */
+static inline float mavlink_msg_safety_allowed_area_get_p1x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field p1y from safety_allowed_area message
+ *
+ * @return y position 1 / Longitude 1
+ */
+static inline float mavlink_msg_safety_allowed_area_get_p1y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field p1z from safety_allowed_area message
+ *
+ * @return z position 1 / Altitude 1
+ */
+static inline float mavlink_msg_safety_allowed_area_get_p1z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field p2x from safety_allowed_area message
+ *
+ * @return x position 2 / Latitude 2
+ */
+static inline float mavlink_msg_safety_allowed_area_get_p2x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field p2y from safety_allowed_area message
+ *
+ * @return y position 2 / Longitude 2
+ */
+static inline float mavlink_msg_safety_allowed_area_get_p2y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field p2z from safety_allowed_area message
+ *
+ * @return z position 2 / Altitude 2
+ */
+static inline float mavlink_msg_safety_allowed_area_get_p2z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Decode a safety_allowed_area message into a struct
+ *
+ * @param msg The message to decode
+ * @param safety_allowed_area C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_safety_allowed_area_decode(const mavlink_message_t* msg, mavlink_safety_allowed_area_t* safety_allowed_area)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ safety_allowed_area->p1x = mavlink_msg_safety_allowed_area_get_p1x(msg);
+ safety_allowed_area->p1y = mavlink_msg_safety_allowed_area_get_p1y(msg);
+ safety_allowed_area->p1z = mavlink_msg_safety_allowed_area_get_p1z(msg);
+ safety_allowed_area->p2x = mavlink_msg_safety_allowed_area_get_p2x(msg);
+ safety_allowed_area->p2y = mavlink_msg_safety_allowed_area_get_p2y(msg);
+ safety_allowed_area->p2z = mavlink_msg_safety_allowed_area_get_p2z(msg);
+ safety_allowed_area->frame = mavlink_msg_safety_allowed_area_get_frame(msg);
+#else
+ memcpy(safety_allowed_area, _MAV_PAYLOAD(msg), 25);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_safety_set_allowed_area.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_safety_set_allowed_area.h
new file mode 100644
index 0000000..8fb410c
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_safety_set_allowed_area.h
@@ -0,0 +1,320 @@
+// MESSAGE SAFETY_SET_ALLOWED_AREA PACKING
+
+#define MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA 54
+
+typedef struct __mavlink_safety_set_allowed_area_t
+{
+ float p1x; ///< x position 1 / Latitude 1
+ float p1y; ///< y position 1 / Longitude 1
+ float p1z; ///< z position 1 / Altitude 1
+ float p2x; ///< x position 2 / Latitude 2
+ float p2y; ///< y position 2 / Longitude 2
+ float p2z; ///< z position 2 / Altitude 2
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
+} mavlink_safety_set_allowed_area_t;
+
+#define MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN 27
+#define MAVLINK_MSG_ID_54_LEN 27
+
+
+
+#define MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA { \
+ "SAFETY_SET_ALLOWED_AREA", \
+ 9, \
+ { { "p1x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_safety_set_allowed_area_t, p1x) }, \
+ { "p1y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_safety_set_allowed_area_t, p1y) }, \
+ { "p1z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_safety_set_allowed_area_t, p1z) }, \
+ { "p2x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_safety_set_allowed_area_t, p2x) }, \
+ { "p2y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_safety_set_allowed_area_t, p2y) }, \
+ { "p2z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_safety_set_allowed_area_t, p2z) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_safety_set_allowed_area_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_safety_set_allowed_area_t, target_component) }, \
+ { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_safety_set_allowed_area_t, frame) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a safety_set_allowed_area 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_system System ID
+ * @param target_component Component ID
+ * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
+ * @param p1x x position 1 / Latitude 1
+ * @param p1y y position 1 / Longitude 1
+ * @param p1z z position 1 / Altitude 1
+ * @param p2x x position 2 / Latitude 2
+ * @param p2y y position 2 / Longitude 2
+ * @param p2z z position 2 / Altitude 2
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_safety_set_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[27];
+ _mav_put_float(buf, 0, p1x);
+ _mav_put_float(buf, 4, p1y);
+ _mav_put_float(buf, 8, p1z);
+ _mav_put_float(buf, 12, p2x);
+ _mav_put_float(buf, 16, p2y);
+ _mav_put_float(buf, 20, p2z);
+ _mav_put_uint8_t(buf, 24, target_system);
+ _mav_put_uint8_t(buf, 25, target_component);
+ _mav_put_uint8_t(buf, 26, frame);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 27);
+#else
+ mavlink_safety_set_allowed_area_t packet;
+ packet.p1x = p1x;
+ packet.p1y = p1y;
+ packet.p1z = p1z;
+ packet.p2x = p2x;
+ packet.p2y = p2y;
+ packet.p2z = p2z;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.frame = frame;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 27);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA;
+ return mavlink_finalize_message(msg, system_id, component_id, 27, 15);
+}
+
+/**
+ * @brief Pack a safety_set_allowed_area 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
+ * @param p1x x position 1 / Latitude 1
+ * @param p1y y position 1 / Longitude 1
+ * @param p1z z position 1 / Altitude 1
+ * @param p2x x position 2 / Latitude 2
+ * @param p2y y position 2 / Longitude 2
+ * @param p2z z position 2 / Altitude 2
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_safety_set_allowed_area_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,uint8_t frame,float p1x,float p1y,float p1z,float p2x,float p2y,float p2z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[27];
+ _mav_put_float(buf, 0, p1x);
+ _mav_put_float(buf, 4, p1y);
+ _mav_put_float(buf, 8, p1z);
+ _mav_put_float(buf, 12, p2x);
+ _mav_put_float(buf, 16, p2y);
+ _mav_put_float(buf, 20, p2z);
+ _mav_put_uint8_t(buf, 24, target_system);
+ _mav_put_uint8_t(buf, 25, target_component);
+ _mav_put_uint8_t(buf, 26, frame);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 27);
+#else
+ mavlink_safety_set_allowed_area_t packet;
+ packet.p1x = p1x;
+ packet.p1y = p1y;
+ packet.p1z = p1z;
+ packet.p2x = p2x;
+ packet.p2y = p2y;
+ packet.p2z = p2z;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.frame = frame;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 27);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 27, 15);
+}
+
+/**
+ * @brief Encode a safety_set_allowed_area 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 safety_set_allowed_area C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_safety_set_allowed_area_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_safety_set_allowed_area_t* safety_set_allowed_area)
+{
+ return mavlink_msg_safety_set_allowed_area_pack(system_id, component_id, msg, safety_set_allowed_area->target_system, safety_set_allowed_area->target_component, safety_set_allowed_area->frame, safety_set_allowed_area->p1x, safety_set_allowed_area->p1y, safety_set_allowed_area->p1z, safety_set_allowed_area->p2x, safety_set_allowed_area->p2y, safety_set_allowed_area->p2z);
+}
+
+/**
+ * @brief Send a safety_set_allowed_area message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
+ * @param p1x x position 1 / Latitude 1
+ * @param p1y y position 1 / Longitude 1
+ * @param p1z z position 1 / Altitude 1
+ * @param p2x x position 2 / Latitude 2
+ * @param p2y y position 2 / Longitude 2
+ * @param p2z z position 2 / Altitude 2
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_safety_set_allowed_area_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[27];
+ _mav_put_float(buf, 0, p1x);
+ _mav_put_float(buf, 4, p1y);
+ _mav_put_float(buf, 8, p1z);
+ _mav_put_float(buf, 12, p2x);
+ _mav_put_float(buf, 16, p2y);
+ _mav_put_float(buf, 20, p2z);
+ _mav_put_uint8_t(buf, 24, target_system);
+ _mav_put_uint8_t(buf, 25, target_component);
+ _mav_put_uint8_t(buf, 26, frame);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, buf, 27, 15);
+#else
+ mavlink_safety_set_allowed_area_t packet;
+ packet.p1x = p1x;
+ packet.p1y = p1y;
+ packet.p1z = p1z;
+ packet.p2x = p2x;
+ packet.p2y = p2y;
+ packet.p2z = p2z;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.frame = frame;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, (const char *)&packet, 27, 15);
+#endif
+}
+
+#endif
+
+// MESSAGE SAFETY_SET_ALLOWED_AREA UNPACKING
+
+
+/**
+ * @brief Get field target_system from safety_set_allowed_area message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_safety_set_allowed_area_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 24);
+}
+
+/**
+ * @brief Get field target_component from safety_set_allowed_area message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_safety_set_allowed_area_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 25);
+}
+
+/**
+ * @brief Get field frame from safety_set_allowed_area message
+ *
+ * @return Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
+ */
+static inline uint8_t mavlink_msg_safety_set_allowed_area_get_frame(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 26);
+}
+
+/**
+ * @brief Get field p1x from safety_set_allowed_area message
+ *
+ * @return x position 1 / Latitude 1
+ */
+static inline float mavlink_msg_safety_set_allowed_area_get_p1x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field p1y from safety_set_allowed_area message
+ *
+ * @return y position 1 / Longitude 1
+ */
+static inline float mavlink_msg_safety_set_allowed_area_get_p1y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field p1z from safety_set_allowed_area message
+ *
+ * @return z position 1 / Altitude 1
+ */
+static inline float mavlink_msg_safety_set_allowed_area_get_p1z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field p2x from safety_set_allowed_area message
+ *
+ * @return x position 2 / Latitude 2
+ */
+static inline float mavlink_msg_safety_set_allowed_area_get_p2x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field p2y from safety_set_allowed_area message
+ *
+ * @return y position 2 / Longitude 2
+ */
+static inline float mavlink_msg_safety_set_allowed_area_get_p2y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field p2z from safety_set_allowed_area message
+ *
+ * @return z position 2 / Altitude 2
+ */
+static inline float mavlink_msg_safety_set_allowed_area_get_p2z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Decode a safety_set_allowed_area message into a struct
+ *
+ * @param msg The message to decode
+ * @param safety_set_allowed_area C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_safety_set_allowed_area_decode(const mavlink_message_t* msg, mavlink_safety_set_allowed_area_t* safety_set_allowed_area)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ safety_set_allowed_area->p1x = mavlink_msg_safety_set_allowed_area_get_p1x(msg);
+ safety_set_allowed_area->p1y = mavlink_msg_safety_set_allowed_area_get_p1y(msg);
+ safety_set_allowed_area->p1z = mavlink_msg_safety_set_allowed_area_get_p1z(msg);
+ safety_set_allowed_area->p2x = mavlink_msg_safety_set_allowed_area_get_p2x(msg);
+ safety_set_allowed_area->p2y = mavlink_msg_safety_set_allowed_area_get_p2y(msg);
+ safety_set_allowed_area->p2z = mavlink_msg_safety_set_allowed_area_get_p2z(msg);
+ safety_set_allowed_area->target_system = mavlink_msg_safety_set_allowed_area_get_target_system(msg);
+ safety_set_allowed_area->target_component = mavlink_msg_safety_set_allowed_area_get_target_component(msg);
+ safety_set_allowed_area->frame = mavlink_msg_safety_set_allowed_area_get_frame(msg);
+#else
+ memcpy(safety_set_allowed_area, _MAV_PAYLOAD(msg), 27);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h
new file mode 100644
index 0000000..8ff098f
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h
@@ -0,0 +1,342 @@
+// MESSAGE SCALED_IMU PACKING
+
+#define MAVLINK_MSG_ID_SCALED_IMU 26
+
+typedef struct __mavlink_scaled_imu_t
+{
+ uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ int16_t xacc; ///< X acceleration (mg)
+ int16_t yacc; ///< Y acceleration (mg)
+ int16_t zacc; ///< Z acceleration (mg)
+ int16_t xgyro; ///< Angular speed around X axis (millirad /sec)
+ int16_t ygyro; ///< Angular speed around Y axis (millirad /sec)
+ int16_t zgyro; ///< Angular speed around Z axis (millirad /sec)
+ int16_t xmag; ///< X Magnetic field (milli tesla)
+ int16_t ymag; ///< Y Magnetic field (milli tesla)
+ int16_t zmag; ///< Z Magnetic field (milli tesla)
+} mavlink_scaled_imu_t;
+
+#define MAVLINK_MSG_ID_SCALED_IMU_LEN 22
+#define MAVLINK_MSG_ID_26_LEN 22
+
+
+
+#define MAVLINK_MESSAGE_INFO_SCALED_IMU { \
+ "SCALED_IMU", \
+ 10, \
+ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu_t, time_boot_ms) }, \
+ { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu_t, xacc) }, \
+ { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu_t, yacc) }, \
+ { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu_t, zacc) }, \
+ { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu_t, xgyro) }, \
+ { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu_t, ygyro) }, \
+ { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu_t, zgyro) }, \
+ { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu_t, xmag) }, \
+ { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu_t, ymag) }, \
+ { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu_t, zmag) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a scaled_imu 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 time_boot_ms Timestamp (milliseconds since system boot)
+ * @param xacc X acceleration (mg)
+ * @param yacc Y acceleration (mg)
+ * @param zacc Z acceleration (mg)
+ * @param xgyro Angular speed around X axis (millirad /sec)
+ * @param ygyro Angular speed around Y axis (millirad /sec)
+ * @param zgyro Angular speed around Z axis (millirad /sec)
+ * @param xmag X Magnetic field (milli tesla)
+ * @param ymag Y Magnetic field (milli tesla)
+ * @param zmag Z Magnetic field (milli tesla)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[22];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_int16_t(buf, 4, xacc);
+ _mav_put_int16_t(buf, 6, yacc);
+ _mav_put_int16_t(buf, 8, zacc);
+ _mav_put_int16_t(buf, 10, xgyro);
+ _mav_put_int16_t(buf, 12, ygyro);
+ _mav_put_int16_t(buf, 14, zgyro);
+ _mav_put_int16_t(buf, 16, xmag);
+ _mav_put_int16_t(buf, 18, ymag);
+ _mav_put_int16_t(buf, 20, zmag);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22);
+#else
+ mavlink_scaled_imu_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.xacc = xacc;
+ packet.yacc = yacc;
+ packet.zacc = zacc;
+ packet.xgyro = xgyro;
+ packet.ygyro = ygyro;
+ packet.zgyro = zgyro;
+ packet.xmag = xmag;
+ packet.ymag = ymag;
+ packet.zmag = zmag;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
+ return mavlink_finalize_message(msg, system_id, component_id, 22, 170);
+}
+
+/**
+ * @brief Pack a scaled_imu 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param xacc X acceleration (mg)
+ * @param yacc Y acceleration (mg)
+ * @param zacc Z acceleration (mg)
+ * @param xgyro Angular speed around X axis (millirad /sec)
+ * @param ygyro Angular speed around Y axis (millirad /sec)
+ * @param zgyro Angular speed around Z axis (millirad /sec)
+ * @param xmag X Magnetic field (milli tesla)
+ * @param ymag Y Magnetic field (milli tesla)
+ * @param zmag Z Magnetic field (milli tesla)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint32_t time_boot_ms,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[22];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_int16_t(buf, 4, xacc);
+ _mav_put_int16_t(buf, 6, yacc);
+ _mav_put_int16_t(buf, 8, zacc);
+ _mav_put_int16_t(buf, 10, xgyro);
+ _mav_put_int16_t(buf, 12, ygyro);
+ _mav_put_int16_t(buf, 14, zgyro);
+ _mav_put_int16_t(buf, 16, xmag);
+ _mav_put_int16_t(buf, 18, ymag);
+ _mav_put_int16_t(buf, 20, zmag);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22);
+#else
+ mavlink_scaled_imu_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.xacc = xacc;
+ packet.yacc = yacc;
+ packet.zacc = zacc;
+ packet.xgyro = xgyro;
+ packet.ygyro = ygyro;
+ packet.zgyro = zgyro;
+ packet.xmag = xmag;
+ packet.ymag = ymag;
+ packet.zmag = zmag;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 22, 170);
+}
+
+/**
+ * @brief Encode a scaled_imu 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 scaled_imu C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_scaled_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu)
+{
+ return mavlink_msg_scaled_imu_pack(system_id, component_id, msg, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag);
+}
+
+/**
+ * @brief Send a scaled_imu message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param xacc X acceleration (mg)
+ * @param yacc Y acceleration (mg)
+ * @param zacc Z acceleration (mg)
+ * @param xgyro Angular speed around X axis (millirad /sec)
+ * @param ygyro Angular speed around Y axis (millirad /sec)
+ * @param zgyro Angular speed around Z axis (millirad /sec)
+ * @param xmag X Magnetic field (milli tesla)
+ * @param ymag Y Magnetic field (milli tesla)
+ * @param zmag Z Magnetic field (milli tesla)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[22];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_int16_t(buf, 4, xacc);
+ _mav_put_int16_t(buf, 6, yacc);
+ _mav_put_int16_t(buf, 8, zacc);
+ _mav_put_int16_t(buf, 10, xgyro);
+ _mav_put_int16_t(buf, 12, ygyro);
+ _mav_put_int16_t(buf, 14, zgyro);
+ _mav_put_int16_t(buf, 16, xmag);
+ _mav_put_int16_t(buf, 18, ymag);
+ _mav_put_int16_t(buf, 20, zmag);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, 22, 170);
+#else
+ mavlink_scaled_imu_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.xacc = xacc;
+ packet.yacc = yacc;
+ packet.zacc = zacc;
+ packet.xgyro = xgyro;
+ packet.ygyro = ygyro;
+ packet.zgyro = zgyro;
+ packet.xmag = xmag;
+ packet.ymag = ymag;
+ packet.zmag = zmag;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)&packet, 22, 170);
+#endif
+}
+
+#endif
+
+// MESSAGE SCALED_IMU UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from scaled_imu message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_scaled_imu_get_time_boot_ms(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field xacc from scaled_imu message
+ *
+ * @return X acceleration (mg)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 4);
+}
+
+/**
+ * @brief Get field yacc from scaled_imu message
+ *
+ * @return Y acceleration (mg)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 6);
+}
+
+/**
+ * @brief Get field zacc from scaled_imu message
+ *
+ * @return Z acceleration (mg)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 8);
+}
+
+/**
+ * @brief Get field xgyro from scaled_imu message
+ *
+ * @return Angular speed around X axis (millirad /sec)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 10);
+}
+
+/**
+ * @brief Get field ygyro from scaled_imu message
+ *
+ * @return Angular speed around Y axis (millirad /sec)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 12);
+}
+
+/**
+ * @brief Get field zgyro from scaled_imu message
+ *
+ * @return Angular speed around Z axis (millirad /sec)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 14);
+}
+
+/**
+ * @brief Get field xmag from scaled_imu message
+ *
+ * @return X Magnetic field (milli tesla)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 16);
+}
+
+/**
+ * @brief Get field ymag from scaled_imu message
+ *
+ * @return Y Magnetic field (milli tesla)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 18);
+}
+
+/**
+ * @brief Get field zmag from scaled_imu message
+ *
+ * @return Z Magnetic field (milli tesla)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 20);
+}
+
+/**
+ * @brief Decode a scaled_imu message into a struct
+ *
+ * @param msg The message to decode
+ * @param scaled_imu C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t* msg, mavlink_scaled_imu_t* scaled_imu)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ scaled_imu->time_boot_ms = mavlink_msg_scaled_imu_get_time_boot_ms(msg);
+ scaled_imu->xacc = mavlink_msg_scaled_imu_get_xacc(msg);
+ scaled_imu->yacc = mavlink_msg_scaled_imu_get_yacc(msg);
+ scaled_imu->zacc = mavlink_msg_scaled_imu_get_zacc(msg);
+ scaled_imu->xgyro = mavlink_msg_scaled_imu_get_xgyro(msg);
+ scaled_imu->ygyro = mavlink_msg_scaled_imu_get_ygyro(msg);
+ scaled_imu->zgyro = mavlink_msg_scaled_imu_get_zgyro(msg);
+ scaled_imu->xmag = mavlink_msg_scaled_imu_get_xmag(msg);
+ scaled_imu->ymag = mavlink_msg_scaled_imu_get_ymag(msg);
+ scaled_imu->zmag = mavlink_msg_scaled_imu_get_zmag(msg);
+#else
+ memcpy(scaled_imu, _MAV_PAYLOAD(msg), 22);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_scaled_pressure.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_scaled_pressure.h
new file mode 100644
index 0000000..d9ddcd4
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_scaled_pressure.h
@@ -0,0 +1,210 @@
+// MESSAGE SCALED_PRESSURE PACKING
+
+#define MAVLINK_MSG_ID_SCALED_PRESSURE 29
+
+typedef struct __mavlink_scaled_pressure_t
+{
+ uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ float press_abs; ///< Absolute pressure (hectopascal)
+ float press_diff; ///< Differential pressure 1 (hectopascal)
+ int16_t temperature; ///< Temperature measurement (0.01 degrees celsius)
+} mavlink_scaled_pressure_t;
+
+#define MAVLINK_MSG_ID_SCALED_PRESSURE_LEN 14
+#define MAVLINK_MSG_ID_29_LEN 14
+
+
+
+#define MAVLINK_MESSAGE_INFO_SCALED_PRESSURE { \
+ "SCALED_PRESSURE", \
+ 4, \
+ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_pressure_t, time_boot_ms) }, \
+ { "press_abs", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_scaled_pressure_t, press_abs) }, \
+ { "press_diff", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_scaled_pressure_t, press_diff) }, \
+ { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_pressure_t, temperature) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a scaled_pressure 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 time_boot_ms Timestamp (milliseconds since system boot)
+ * @param press_abs Absolute pressure (hectopascal)
+ * @param press_diff Differential pressure 1 (hectopascal)
+ * @param temperature Temperature measurement (0.01 degrees celsius)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_scaled_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint32_t time_boot_ms, float press_abs, float press_diff, int16_t temperature)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[14];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, press_abs);
+ _mav_put_float(buf, 8, press_diff);
+ _mav_put_int16_t(buf, 12, temperature);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 14);
+#else
+ mavlink_scaled_pressure_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.press_abs = press_abs;
+ packet.press_diff = press_diff;
+ packet.temperature = temperature;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 14);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SCALED_PRESSURE;
+ return mavlink_finalize_message(msg, system_id, component_id, 14, 115);
+}
+
+/**
+ * @brief Pack a scaled_pressure 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param press_abs Absolute pressure (hectopascal)
+ * @param press_diff Differential pressure 1 (hectopascal)
+ * @param temperature Temperature measurement (0.01 degrees celsius)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_scaled_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint32_t time_boot_ms,float press_abs,float press_diff,int16_t temperature)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[14];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, press_abs);
+ _mav_put_float(buf, 8, press_diff);
+ _mav_put_int16_t(buf, 12, temperature);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 14);
+#else
+ mavlink_scaled_pressure_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.press_abs = press_abs;
+ packet.press_diff = press_diff;
+ packet.temperature = temperature;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 14);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SCALED_PRESSURE;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14, 115);
+}
+
+/**
+ * @brief Encode a scaled_pressure 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 scaled_pressure C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_scaled_pressure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_pressure_t* scaled_pressure)
+{
+ return mavlink_msg_scaled_pressure_pack(system_id, component_id, msg, scaled_pressure->time_boot_ms, scaled_pressure->press_abs, scaled_pressure->press_diff, scaled_pressure->temperature);
+}
+
+/**
+ * @brief Send a scaled_pressure message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param press_abs Absolute pressure (hectopascal)
+ * @param press_diff Differential pressure 1 (hectopascal)
+ * @param temperature Temperature measurement (0.01 degrees celsius)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_scaled_pressure_send(mavlink_channel_t chan, uint32_t time_boot_ms, float press_abs, float press_diff, int16_t temperature)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[14];
+ _mav_put_uint32_t(buf, 0, time_boot_ms);
+ _mav_put_float(buf, 4, press_abs);
+ _mav_put_float(buf, 8, press_diff);
+ _mav_put_int16_t(buf, 12, temperature);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, buf, 14, 115);
+#else
+ mavlink_scaled_pressure_t packet;
+ packet.time_boot_ms = time_boot_ms;
+ packet.press_abs = press_abs;
+ packet.press_diff = press_diff;
+ packet.temperature = temperature;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, (const char *)&packet, 14, 115);
+#endif
+}
+
+#endif
+
+// MESSAGE SCALED_PRESSURE UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from scaled_pressure message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_scaled_pressure_get_time_boot_ms(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field press_abs from scaled_pressure message
+ *
+ * @return Absolute pressure (hectopascal)
+ */
+static inline float mavlink_msg_scaled_pressure_get_press_abs(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field press_diff from scaled_pressure message
+ *
+ * @return Differential pressure 1 (hectopascal)
+ */
+static inline float mavlink_msg_scaled_pressure_get_press_diff(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field temperature from scaled_pressure message
+ *
+ * @return Temperature measurement (0.01 degrees celsius)
+ */
+static inline int16_t mavlink_msg_scaled_pressure_get_temperature(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 12);
+}
+
+/**
+ * @brief Decode a scaled_pressure message into a struct
+ *
+ * @param msg The message to decode
+ * @param scaled_pressure C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_scaled_pressure_decode(const mavlink_message_t* msg, mavlink_scaled_pressure_t* scaled_pressure)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ scaled_pressure->time_boot_ms = mavlink_msg_scaled_pressure_get_time_boot_ms(msg);
+ scaled_pressure->press_abs = mavlink_msg_scaled_pressure_get_press_abs(msg);
+ scaled_pressure->press_diff = mavlink_msg_scaled_pressure_get_press_diff(msg);
+ scaled_pressure->temperature = mavlink_msg_scaled_pressure_get_temperature(msg);
+#else
+ memcpy(scaled_pressure, _MAV_PAYLOAD(msg), 14);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h
new file mode 100644
index 0000000..45c94d8
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h
@@ -0,0 +1,342 @@
+// MESSAGE SERVO_OUTPUT_RAW PACKING
+
+#define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW 36
+
+typedef struct __mavlink_servo_output_raw_t
+{
+ uint32_t time_usec; ///< Timestamp (microseconds since system boot)
+ uint16_t servo1_raw; ///< Servo output 1 value, in microseconds
+ uint16_t servo2_raw; ///< Servo output 2 value, in microseconds
+ uint16_t servo3_raw; ///< Servo output 3 value, in microseconds
+ uint16_t servo4_raw; ///< Servo output 4 value, in microseconds
+ uint16_t servo5_raw; ///< Servo output 5 value, in microseconds
+ uint16_t servo6_raw; ///< Servo output 6 value, in microseconds
+ uint16_t servo7_raw; ///< Servo output 7 value, in microseconds
+ uint16_t servo8_raw; ///< Servo output 8 value, in microseconds
+ uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+} mavlink_servo_output_raw_t;
+
+#define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN 21
+#define MAVLINK_MSG_ID_36_LEN 21
+
+
+
+#define MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW { \
+ "SERVO_OUTPUT_RAW", \
+ 10, \
+ { { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_servo_output_raw_t, time_usec) }, \
+ { "servo1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_servo_output_raw_t, servo1_raw) }, \
+ { "servo2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_servo_output_raw_t, servo2_raw) }, \
+ { "servo3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_servo_output_raw_t, servo3_raw) }, \
+ { "servo4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_servo_output_raw_t, servo4_raw) }, \
+ { "servo5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_servo_output_raw_t, servo5_raw) }, \
+ { "servo6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_servo_output_raw_t, servo6_raw) }, \
+ { "servo7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_servo_output_raw_t, servo7_raw) }, \
+ { "servo8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_servo_output_raw_t, servo8_raw) }, \
+ { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_servo_output_raw_t, port) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a servo_output_raw 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 time_usec Timestamp (microseconds since system boot)
+ * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ * @param servo1_raw Servo output 1 value, in microseconds
+ * @param servo2_raw Servo output 2 value, in microseconds
+ * @param servo3_raw Servo output 3 value, in microseconds
+ * @param servo4_raw Servo output 4 value, in microseconds
+ * @param servo5_raw Servo output 5 value, in microseconds
+ * @param servo6_raw Servo output 6 value, in microseconds
+ * @param servo7_raw Servo output 7 value, in microseconds
+ * @param servo8_raw Servo output 8 value, in microseconds
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[21];
+ _mav_put_uint32_t(buf, 0, time_usec);
+ _mav_put_uint16_t(buf, 4, servo1_raw);
+ _mav_put_uint16_t(buf, 6, servo2_raw);
+ _mav_put_uint16_t(buf, 8, servo3_raw);
+ _mav_put_uint16_t(buf, 10, servo4_raw);
+ _mav_put_uint16_t(buf, 12, servo5_raw);
+ _mav_put_uint16_t(buf, 14, servo6_raw);
+ _mav_put_uint16_t(buf, 16, servo7_raw);
+ _mav_put_uint16_t(buf, 18, servo8_raw);
+ _mav_put_uint8_t(buf, 20, port);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21);
+#else
+ mavlink_servo_output_raw_t packet;
+ packet.time_usec = time_usec;
+ packet.servo1_raw = servo1_raw;
+ packet.servo2_raw = servo2_raw;
+ packet.servo3_raw = servo3_raw;
+ packet.servo4_raw = servo4_raw;
+ packet.servo5_raw = servo5_raw;
+ packet.servo6_raw = servo6_raw;
+ packet.servo7_raw = servo7_raw;
+ packet.servo8_raw = servo8_raw;
+ packet.port = port;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
+ return mavlink_finalize_message(msg, system_id, component_id, 21, 222);
+}
+
+/**
+ * @brief Pack a servo_output_raw 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_usec Timestamp (microseconds since system boot)
+ * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ * @param servo1_raw Servo output 1 value, in microseconds
+ * @param servo2_raw Servo output 2 value, in microseconds
+ * @param servo3_raw Servo output 3 value, in microseconds
+ * @param servo4_raw Servo output 4 value, in microseconds
+ * @param servo5_raw Servo output 5 value, in microseconds
+ * @param servo6_raw Servo output 6 value, in microseconds
+ * @param servo7_raw Servo output 7 value, in microseconds
+ * @param servo8_raw Servo output 8 value, in microseconds
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint32_t time_usec,uint8_t port,uint16_t servo1_raw,uint16_t servo2_raw,uint16_t servo3_raw,uint16_t servo4_raw,uint16_t servo5_raw,uint16_t servo6_raw,uint16_t servo7_raw,uint16_t servo8_raw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[21];
+ _mav_put_uint32_t(buf, 0, time_usec);
+ _mav_put_uint16_t(buf, 4, servo1_raw);
+ _mav_put_uint16_t(buf, 6, servo2_raw);
+ _mav_put_uint16_t(buf, 8, servo3_raw);
+ _mav_put_uint16_t(buf, 10, servo4_raw);
+ _mav_put_uint16_t(buf, 12, servo5_raw);
+ _mav_put_uint16_t(buf, 14, servo6_raw);
+ _mav_put_uint16_t(buf, 16, servo7_raw);
+ _mav_put_uint16_t(buf, 18, servo8_raw);
+ _mav_put_uint8_t(buf, 20, port);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21);
+#else
+ mavlink_servo_output_raw_t packet;
+ packet.time_usec = time_usec;
+ packet.servo1_raw = servo1_raw;
+ packet.servo2_raw = servo2_raw;
+ packet.servo3_raw = servo3_raw;
+ packet.servo4_raw = servo4_raw;
+ packet.servo5_raw = servo5_raw;
+ packet.servo6_raw = servo6_raw;
+ packet.servo7_raw = servo7_raw;
+ packet.servo8_raw = servo8_raw;
+ packet.port = port;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 222);
+}
+
+/**
+ * @brief Encode a servo_output_raw 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 servo_output_raw C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw)
+{
+ return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->time_usec, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw);
+}
+
+/**
+ * @brief Send a servo_output_raw message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_usec Timestamp (microseconds since system boot)
+ * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ * @param servo1_raw Servo output 1 value, in microseconds
+ * @param servo2_raw Servo output 2 value, in microseconds
+ * @param servo3_raw Servo output 3 value, in microseconds
+ * @param servo4_raw Servo output 4 value, in microseconds
+ * @param servo5_raw Servo output 5 value, in microseconds
+ * @param servo6_raw Servo output 6 value, in microseconds
+ * @param servo7_raw Servo output 7 value, in microseconds
+ * @param servo8_raw Servo output 8 value, in microseconds
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[21];
+ _mav_put_uint32_t(buf, 0, time_usec);
+ _mav_put_uint16_t(buf, 4, servo1_raw);
+ _mav_put_uint16_t(buf, 6, servo2_raw);
+ _mav_put_uint16_t(buf, 8, servo3_raw);
+ _mav_put_uint16_t(buf, 10, servo4_raw);
+ _mav_put_uint16_t(buf, 12, servo5_raw);
+ _mav_put_uint16_t(buf, 14, servo6_raw);
+ _mav_put_uint16_t(buf, 16, servo7_raw);
+ _mav_put_uint16_t(buf, 18, servo8_raw);
+ _mav_put_uint8_t(buf, 20, port);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, 21, 222);
+#else
+ mavlink_servo_output_raw_t packet;
+ packet.time_usec = time_usec;
+ packet.servo1_raw = servo1_raw;
+ packet.servo2_raw = servo2_raw;
+ packet.servo3_raw = servo3_raw;
+ packet.servo4_raw = servo4_raw;
+ packet.servo5_raw = servo5_raw;
+ packet.servo6_raw = servo6_raw;
+ packet.servo7_raw = servo7_raw;
+ packet.servo8_raw = servo8_raw;
+ packet.port = port;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, 21, 222);
+#endif
+}
+
+#endif
+
+// MESSAGE SERVO_OUTPUT_RAW UNPACKING
+
+
+/**
+ * @brief Get field time_usec from servo_output_raw message
+ *
+ * @return Timestamp (microseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_servo_output_raw_get_time_usec(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field port from servo_output_raw message
+ *
+ * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ */
+static inline uint8_t mavlink_msg_servo_output_raw_get_port(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 20);
+}
+
+/**
+ * @brief Get field servo1_raw from servo_output_raw message
+ *
+ * @return Servo output 1 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_servo_output_raw_get_servo1_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 4);
+}
+
+/**
+ * @brief Get field servo2_raw from servo_output_raw message
+ *
+ * @return Servo output 2 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_servo_output_raw_get_servo2_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 6);
+}
+
+/**
+ * @brief Get field servo3_raw from servo_output_raw message
+ *
+ * @return Servo output 3 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_servo_output_raw_get_servo3_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 8);
+}
+
+/**
+ * @brief Get field servo4_raw from servo_output_raw message
+ *
+ * @return Servo output 4 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_servo_output_raw_get_servo4_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 10);
+}
+
+/**
+ * @brief Get field servo5_raw from servo_output_raw message
+ *
+ * @return Servo output 5 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_servo_output_raw_get_servo5_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 12);
+}
+
+/**
+ * @brief Get field servo6_raw from servo_output_raw message
+ *
+ * @return Servo output 6 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_servo_output_raw_get_servo6_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 14);
+}
+
+/**
+ * @brief Get field servo7_raw from servo_output_raw message
+ *
+ * @return Servo output 7 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_servo_output_raw_get_servo7_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 16);
+}
+
+/**
+ * @brief Get field servo8_raw from servo_output_raw message
+ *
+ * @return Servo output 8 value, in microseconds
+ */
+static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 18);
+}
+
+/**
+ * @brief Decode a servo_output_raw message into a struct
+ *
+ * @param msg The message to decode
+ * @param servo_output_raw C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t* msg, mavlink_servo_output_raw_t* servo_output_raw)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ servo_output_raw->time_usec = mavlink_msg_servo_output_raw_get_time_usec(msg);
+ servo_output_raw->servo1_raw = mavlink_msg_servo_output_raw_get_servo1_raw(msg);
+ servo_output_raw->servo2_raw = mavlink_msg_servo_output_raw_get_servo2_raw(msg);
+ servo_output_raw->servo3_raw = mavlink_msg_servo_output_raw_get_servo3_raw(msg);
+ servo_output_raw->servo4_raw = mavlink_msg_servo_output_raw_get_servo4_raw(msg);
+ servo_output_raw->servo5_raw = mavlink_msg_servo_output_raw_get_servo5_raw(msg);
+ servo_output_raw->servo6_raw = mavlink_msg_servo_output_raw_get_servo6_raw(msg);
+ servo_output_raw->servo7_raw = mavlink_msg_servo_output_raw_get_servo7_raw(msg);
+ servo_output_raw->servo8_raw = mavlink_msg_servo_output_raw_get_servo8_raw(msg);
+ servo_output_raw->port = mavlink_msg_servo_output_raw_get_port(msg);
+#else
+ memcpy(servo_output_raw, _MAV_PAYLOAD(msg), 21);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_global_position_setpoint_int.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_global_position_setpoint_int.h
new file mode 100644
index 0000000..5b706fb
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_global_position_setpoint_int.h
@@ -0,0 +1,232 @@
+// MESSAGE SET_GLOBAL_POSITION_SETPOINT_INT PACKING
+
+#define MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT 53
+
+typedef struct __mavlink_set_global_position_setpoint_int_t
+{
+ int32_t latitude; ///< WGS84 Latitude position in degrees * 1E7
+ int32_t longitude; ///< WGS84 Longitude position in degrees * 1E7
+ int32_t altitude; ///< WGS84 Altitude in meters * 1000 (positive for up)
+ int16_t yaw; ///< Desired yaw angle in degrees * 100
+ uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
+} mavlink_set_global_position_setpoint_int_t;
+
+#define MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN 15
+#define MAVLINK_MSG_ID_53_LEN 15
+
+
+
+#define MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT { \
+ "SET_GLOBAL_POSITION_SETPOINT_INT", \
+ 5, \
+ { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_global_position_setpoint_int_t, latitude) }, \
+ { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_global_position_setpoint_int_t, longitude) }, \
+ { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_global_position_setpoint_int_t, altitude) }, \
+ { "yaw", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_set_global_position_setpoint_int_t, yaw) }, \
+ { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_set_global_position_setpoint_int_t, coordinate_frame) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a set_global_position_setpoint_int 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 coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
+ * @param latitude WGS84 Latitude position in degrees * 1E7
+ * @param longitude WGS84 Longitude position in degrees * 1E7
+ * @param altitude WGS84 Altitude in meters * 1000 (positive for up)
+ * @param yaw Desired yaw angle in degrees * 100
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_global_position_setpoint_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[15];
+ _mav_put_int32_t(buf, 0, latitude);
+ _mav_put_int32_t(buf, 4, longitude);
+ _mav_put_int32_t(buf, 8, altitude);
+ _mav_put_int16_t(buf, 12, yaw);
+ _mav_put_uint8_t(buf, 14, coordinate_frame);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15);
+#else
+ mavlink_set_global_position_setpoint_int_t packet;
+ packet.latitude = latitude;
+ packet.longitude = longitude;
+ packet.altitude = altitude;
+ packet.yaw = yaw;
+ packet.coordinate_frame = coordinate_frame;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT;
+ return mavlink_finalize_message(msg, system_id, component_id, 15, 33);
+}
+
+/**
+ * @brief Pack a set_global_position_setpoint_int 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
+ * @param latitude WGS84 Latitude position in degrees * 1E7
+ * @param longitude WGS84 Longitude position in degrees * 1E7
+ * @param altitude WGS84 Altitude in meters * 1000 (positive for up)
+ * @param yaw Desired yaw angle in degrees * 100
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_global_position_setpoint_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t coordinate_frame,int32_t latitude,int32_t longitude,int32_t altitude,int16_t yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[15];
+ _mav_put_int32_t(buf, 0, latitude);
+ _mav_put_int32_t(buf, 4, longitude);
+ _mav_put_int32_t(buf, 8, altitude);
+ _mav_put_int16_t(buf, 12, yaw);
+ _mav_put_uint8_t(buf, 14, coordinate_frame);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15);
+#else
+ mavlink_set_global_position_setpoint_int_t packet;
+ packet.latitude = latitude;
+ packet.longitude = longitude;
+ packet.altitude = altitude;
+ packet.yaw = yaw;
+ packet.coordinate_frame = coordinate_frame;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 15, 33);
+}
+
+/**
+ * @brief Encode a set_global_position_setpoint_int 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 set_global_position_setpoint_int C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_set_global_position_setpoint_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_global_position_setpoint_int_t* set_global_position_setpoint_int)
+{
+ return mavlink_msg_set_global_position_setpoint_int_pack(system_id, component_id, msg, set_global_position_setpoint_int->coordinate_frame, set_global_position_setpoint_int->latitude, set_global_position_setpoint_int->longitude, set_global_position_setpoint_int->altitude, set_global_position_setpoint_int->yaw);
+}
+
+/**
+ * @brief Send a set_global_position_setpoint_int message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
+ * @param latitude WGS84 Latitude position in degrees * 1E7
+ * @param longitude WGS84 Longitude position in degrees * 1E7
+ * @param altitude WGS84 Altitude in meters * 1000 (positive for up)
+ * @param yaw Desired yaw angle in degrees * 100
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_set_global_position_setpoint_int_send(mavlink_channel_t chan, uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[15];
+ _mav_put_int32_t(buf, 0, latitude);
+ _mav_put_int32_t(buf, 4, longitude);
+ _mav_put_int32_t(buf, 8, altitude);
+ _mav_put_int16_t(buf, 12, yaw);
+ _mav_put_uint8_t(buf, 14, coordinate_frame);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, buf, 15, 33);
+#else
+ mavlink_set_global_position_setpoint_int_t packet;
+ packet.latitude = latitude;
+ packet.longitude = longitude;
+ packet.altitude = altitude;
+ packet.yaw = yaw;
+ packet.coordinate_frame = coordinate_frame;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, (const char *)&packet, 15, 33);
+#endif
+}
+
+#endif
+
+// MESSAGE SET_GLOBAL_POSITION_SETPOINT_INT UNPACKING
+
+
+/**
+ * @brief Get field coordinate_frame from set_global_position_setpoint_int message
+ *
+ * @return Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
+ */
+static inline uint8_t mavlink_msg_set_global_position_setpoint_int_get_coordinate_frame(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 14);
+}
+
+/**
+ * @brief Get field latitude from set_global_position_setpoint_int message
+ *
+ * @return WGS84 Latitude position in degrees * 1E7
+ */
+static inline int32_t mavlink_msg_set_global_position_setpoint_int_get_latitude(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 0);
+}
+
+/**
+ * @brief Get field longitude from set_global_position_setpoint_int message
+ *
+ * @return WGS84 Longitude position in degrees * 1E7
+ */
+static inline int32_t mavlink_msg_set_global_position_setpoint_int_get_longitude(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 4);
+}
+
+/**
+ * @brief Get field altitude from set_global_position_setpoint_int message
+ *
+ * @return WGS84 Altitude in meters * 1000 (positive for up)
+ */
+static inline int32_t mavlink_msg_set_global_position_setpoint_int_get_altitude(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 8);
+}
+
+/**
+ * @brief Get field yaw from set_global_position_setpoint_int message
+ *
+ * @return Desired yaw angle in degrees * 100
+ */
+static inline int16_t mavlink_msg_set_global_position_setpoint_int_get_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 12);
+}
+
+/**
+ * @brief Decode a set_global_position_setpoint_int message into a struct
+ *
+ * @param msg The message to decode
+ * @param set_global_position_setpoint_int C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_set_global_position_setpoint_int_decode(const mavlink_message_t* msg, mavlink_set_global_position_setpoint_int_t* set_global_position_setpoint_int)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ set_global_position_setpoint_int->latitude = mavlink_msg_set_global_position_setpoint_int_get_latitude(msg);
+ set_global_position_setpoint_int->longitude = mavlink_msg_set_global_position_setpoint_int_get_longitude(msg);
+ set_global_position_setpoint_int->altitude = mavlink_msg_set_global_position_setpoint_int_get_altitude(msg);
+ set_global_position_setpoint_int->yaw = mavlink_msg_set_global_position_setpoint_int_get_yaw(msg);
+ set_global_position_setpoint_int->coordinate_frame = mavlink_msg_set_global_position_setpoint_int_get_coordinate_frame(msg);
+#else
+ memcpy(set_global_position_setpoint_int, _MAV_PAYLOAD(msg), 15);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_gps_global_origin.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_gps_global_origin.h
new file mode 100644
index 0000000..af404b1
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_gps_global_origin.h
@@ -0,0 +1,210 @@
+// MESSAGE SET_GPS_GLOBAL_ORIGIN PACKING
+
+#define MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN 48
+
+typedef struct __mavlink_set_gps_global_origin_t
+{
+ int32_t latitude; ///< global position * 1E7
+ int32_t longitude; ///< global position * 1E7
+ int32_t altitude; ///< global position * 1000
+ uint8_t target_system; ///< System ID
+} mavlink_set_gps_global_origin_t;
+
+#define MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN 13
+#define MAVLINK_MSG_ID_48_LEN 13
+
+
+
+#define MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN { \
+ "SET_GPS_GLOBAL_ORIGIN", \
+ 4, \
+ { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_gps_global_origin_t, latitude) }, \
+ { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_gps_global_origin_t, longitude) }, \
+ { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_gps_global_origin_t, altitude) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_set_gps_global_origin_t, target_system) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a set_gps_global_origin 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_system System ID
+ * @param latitude global position * 1E7
+ * @param longitude global position * 1E7
+ * @param altitude global position * 1000
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_gps_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[13];
+ _mav_put_int32_t(buf, 0, latitude);
+ _mav_put_int32_t(buf, 4, longitude);
+ _mav_put_int32_t(buf, 8, altitude);
+ _mav_put_uint8_t(buf, 12, target_system);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 13);
+#else
+ mavlink_set_gps_global_origin_t packet;
+ packet.latitude = latitude;
+ packet.longitude = longitude;
+ packet.altitude = altitude;
+ packet.target_system = target_system;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 13);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN;
+ return mavlink_finalize_message(msg, system_id, component_id, 13, 41);
+}
+
+/**
+ * @brief Pack a set_gps_global_origin 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param latitude global position * 1E7
+ * @param longitude global position * 1E7
+ * @param altitude global position * 1000
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_gps_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,int32_t latitude,int32_t longitude,int32_t altitude)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[13];
+ _mav_put_int32_t(buf, 0, latitude);
+ _mav_put_int32_t(buf, 4, longitude);
+ _mav_put_int32_t(buf, 8, altitude);
+ _mav_put_uint8_t(buf, 12, target_system);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 13);
+#else
+ mavlink_set_gps_global_origin_t packet;
+ packet.latitude = latitude;
+ packet.longitude = longitude;
+ packet.altitude = altitude;
+ packet.target_system = target_system;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 13);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 13, 41);
+}
+
+/**
+ * @brief Encode a set_gps_global_origin 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 set_gps_global_origin C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_set_gps_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_gps_global_origin_t* set_gps_global_origin)
+{
+ return mavlink_msg_set_gps_global_origin_pack(system_id, component_id, msg, set_gps_global_origin->target_system, set_gps_global_origin->latitude, set_gps_global_origin->longitude, set_gps_global_origin->altitude);
+}
+
+/**
+ * @brief Send a set_gps_global_origin message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param latitude global position * 1E7
+ * @param longitude global position * 1E7
+ * @param altitude global position * 1000
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_set_gps_global_origin_send(mavlink_channel_t chan, uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[13];
+ _mav_put_int32_t(buf, 0, latitude);
+ _mav_put_int32_t(buf, 4, longitude);
+ _mav_put_int32_t(buf, 8, altitude);
+ _mav_put_uint8_t(buf, 12, target_system);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, buf, 13, 41);
+#else
+ mavlink_set_gps_global_origin_t packet;
+ packet.latitude = latitude;
+ packet.longitude = longitude;
+ packet.altitude = altitude;
+ packet.target_system = target_system;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, (const char *)&packet, 13, 41);
+#endif
+}
+
+#endif
+
+// MESSAGE SET_GPS_GLOBAL_ORIGIN UNPACKING
+
+
+/**
+ * @brief Get field target_system from set_gps_global_origin message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_set_gps_global_origin_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 12);
+}
+
+/**
+ * @brief Get field latitude from set_gps_global_origin message
+ *
+ * @return global position * 1E7
+ */
+static inline int32_t mavlink_msg_set_gps_global_origin_get_latitude(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 0);
+}
+
+/**
+ * @brief Get field longitude from set_gps_global_origin message
+ *
+ * @return global position * 1E7
+ */
+static inline int32_t mavlink_msg_set_gps_global_origin_get_longitude(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 4);
+}
+
+/**
+ * @brief Get field altitude from set_gps_global_origin message
+ *
+ * @return global position * 1000
+ */
+static inline int32_t mavlink_msg_set_gps_global_origin_get_altitude(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 8);
+}
+
+/**
+ * @brief Decode a set_gps_global_origin message into a struct
+ *
+ * @param msg The message to decode
+ * @param set_gps_global_origin C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_set_gps_global_origin_decode(const mavlink_message_t* msg, mavlink_set_gps_global_origin_t* set_gps_global_origin)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ set_gps_global_origin->latitude = mavlink_msg_set_gps_global_origin_get_latitude(msg);
+ set_gps_global_origin->longitude = mavlink_msg_set_gps_global_origin_get_longitude(msg);
+ set_gps_global_origin->altitude = mavlink_msg_set_gps_global_origin_get_altitude(msg);
+ set_gps_global_origin->target_system = mavlink_msg_set_gps_global_origin_get_target_system(msg);
+#else
+ memcpy(set_gps_global_origin, _MAV_PAYLOAD(msg), 13);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h
new file mode 100644
index 0000000..233e07d
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h
@@ -0,0 +1,276 @@
+// MESSAGE SET_LOCAL_POSITION_SETPOINT PACKING
+
+#define MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT 50
+
+typedef struct __mavlink_set_local_position_setpoint_t
+{
+ float x; ///< x position
+ float y; ///< y position
+ float z; ///< z position
+ float yaw; ///< Desired yaw angle
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
+} mavlink_set_local_position_setpoint_t;
+
+#define MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN 19
+#define MAVLINK_MSG_ID_50_LEN 19
+
+
+
+#define MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT { \
+ "SET_LOCAL_POSITION_SETPOINT", \
+ 7, \
+ { { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_local_position_setpoint_t, x) }, \
+ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_local_position_setpoint_t, y) }, \
+ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_local_position_setpoint_t, z) }, \
+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_local_position_setpoint_t, yaw) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_set_local_position_setpoint_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_set_local_position_setpoint_t, target_component) }, \
+ { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_set_local_position_setpoint_t, coordinate_frame) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a set_local_position_setpoint 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_system System ID
+ * @param target_component Component ID
+ * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
+ * @param x x position
+ * @param y y position
+ * @param z z position
+ * @param yaw Desired yaw angle
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_local_position_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, float x, float y, float z, float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[19];
+ _mav_put_float(buf, 0, x);
+ _mav_put_float(buf, 4, y);
+ _mav_put_float(buf, 8, z);
+ _mav_put_float(buf, 12, yaw);
+ _mav_put_uint8_t(buf, 16, target_system);
+ _mav_put_uint8_t(buf, 17, target_component);
+ _mav_put_uint8_t(buf, 18, coordinate_frame);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 19);
+#else
+ mavlink_set_local_position_setpoint_t packet;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.yaw = yaw;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.coordinate_frame = coordinate_frame;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 19);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT;
+ return mavlink_finalize_message(msg, system_id, component_id, 19, 214);
+}
+
+/**
+ * @brief Pack a set_local_position_setpoint 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
+ * @param x x position
+ * @param y y position
+ * @param z z position
+ * @param yaw Desired yaw angle
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_local_position_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,uint8_t coordinate_frame,float x,float y,float z,float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[19];
+ _mav_put_float(buf, 0, x);
+ _mav_put_float(buf, 4, y);
+ _mav_put_float(buf, 8, z);
+ _mav_put_float(buf, 12, yaw);
+ _mav_put_uint8_t(buf, 16, target_system);
+ _mav_put_uint8_t(buf, 17, target_component);
+ _mav_put_uint8_t(buf, 18, coordinate_frame);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 19);
+#else
+ mavlink_set_local_position_setpoint_t packet;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.yaw = yaw;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.coordinate_frame = coordinate_frame;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 19);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 19, 214);
+}
+
+/**
+ * @brief Encode a set_local_position_setpoint 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 set_local_position_setpoint C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_set_local_position_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_local_position_setpoint_t* set_local_position_setpoint)
+{
+ return mavlink_msg_set_local_position_setpoint_pack(system_id, component_id, msg, set_local_position_setpoint->target_system, set_local_position_setpoint->target_component, set_local_position_setpoint->coordinate_frame, set_local_position_setpoint->x, set_local_position_setpoint->y, set_local_position_setpoint->z, set_local_position_setpoint->yaw);
+}
+
+/**
+ * @brief Send a set_local_position_setpoint message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
+ * @param x x position
+ * @param y y position
+ * @param z z position
+ * @param yaw Desired yaw angle
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_set_local_position_setpoint_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, float x, float y, float z, float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[19];
+ _mav_put_float(buf, 0, x);
+ _mav_put_float(buf, 4, y);
+ _mav_put_float(buf, 8, z);
+ _mav_put_float(buf, 12, yaw);
+ _mav_put_uint8_t(buf, 16, target_system);
+ _mav_put_uint8_t(buf, 17, target_component);
+ _mav_put_uint8_t(buf, 18, coordinate_frame);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, buf, 19, 214);
+#else
+ mavlink_set_local_position_setpoint_t packet;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.yaw = yaw;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+ packet.coordinate_frame = coordinate_frame;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, (const char *)&packet, 19, 214);
+#endif
+}
+
+#endif
+
+// MESSAGE SET_LOCAL_POSITION_SETPOINT UNPACKING
+
+
+/**
+ * @brief Get field target_system from set_local_position_setpoint message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_set_local_position_setpoint_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 16);
+}
+
+/**
+ * @brief Get field target_component from set_local_position_setpoint message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_set_local_position_setpoint_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 17);
+}
+
+/**
+ * @brief Get field coordinate_frame from set_local_position_setpoint message
+ *
+ * @return Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
+ */
+static inline uint8_t mavlink_msg_set_local_position_setpoint_get_coordinate_frame(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 18);
+}
+
+/**
+ * @brief Get field x from set_local_position_setpoint message
+ *
+ * @return x position
+ */
+static inline float mavlink_msg_set_local_position_setpoint_get_x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field y from set_local_position_setpoint message
+ *
+ * @return y position
+ */
+static inline float mavlink_msg_set_local_position_setpoint_get_y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field z from set_local_position_setpoint message
+ *
+ * @return z position
+ */
+static inline float mavlink_msg_set_local_position_setpoint_get_z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field yaw from set_local_position_setpoint message
+ *
+ * @return Desired yaw angle
+ */
+static inline float mavlink_msg_set_local_position_setpoint_get_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Decode a set_local_position_setpoint message into a struct
+ *
+ * @param msg The message to decode
+ * @param set_local_position_setpoint C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_set_local_position_setpoint_decode(const mavlink_message_t* msg, mavlink_set_local_position_setpoint_t* set_local_position_setpoint)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ set_local_position_setpoint->x = mavlink_msg_set_local_position_setpoint_get_x(msg);
+ set_local_position_setpoint->y = mavlink_msg_set_local_position_setpoint_get_y(msg);
+ set_local_position_setpoint->z = mavlink_msg_set_local_position_setpoint_get_z(msg);
+ set_local_position_setpoint->yaw = mavlink_msg_set_local_position_setpoint_get_yaw(msg);
+ set_local_position_setpoint->target_system = mavlink_msg_set_local_position_setpoint_get_target_system(msg);
+ set_local_position_setpoint->target_component = mavlink_msg_set_local_position_setpoint_get_target_component(msg);
+ set_local_position_setpoint->coordinate_frame = mavlink_msg_set_local_position_setpoint_get_coordinate_frame(msg);
+#else
+ memcpy(set_local_position_setpoint, _MAV_PAYLOAD(msg), 19);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_mode.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_mode.h
new file mode 100644
index 0000000..fec21ab
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_mode.h
@@ -0,0 +1,188 @@
+// MESSAGE SET_MODE PACKING
+
+#define MAVLINK_MSG_ID_SET_MODE 11
+
+typedef struct __mavlink_set_mode_t
+{
+ uint32_t custom_mode; ///< The new autopilot-specific mode. This field can be ignored by an autopilot.
+ uint8_t target_system; ///< The system setting the mode
+ uint8_t base_mode; ///< The new base mode
+} mavlink_set_mode_t;
+
+#define MAVLINK_MSG_ID_SET_MODE_LEN 6
+#define MAVLINK_MSG_ID_11_LEN 6
+
+
+
+#define MAVLINK_MESSAGE_INFO_SET_MODE { \
+ "SET_MODE", \
+ 3, \
+ { { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_mode_t, custom_mode) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_set_mode_t, target_system) }, \
+ { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_set_mode_t, base_mode) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a set_mode 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_system The system setting the mode
+ * @param base_mode The new base mode
+ * @param custom_mode The new autopilot-specific mode. This field can be ignored by an autopilot.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t base_mode, uint32_t custom_mode)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[6];
+ _mav_put_uint32_t(buf, 0, custom_mode);
+ _mav_put_uint8_t(buf, 4, target_system);
+ _mav_put_uint8_t(buf, 5, base_mode);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
+#else
+ mavlink_set_mode_t packet;
+ packet.custom_mode = custom_mode;
+ packet.target_system = target_system;
+ packet.base_mode = base_mode;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_MODE;
+ return mavlink_finalize_message(msg, system_id, component_id, 6, 89);
+}
+
+/**
+ * @brief Pack a set_mode 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system The system setting the mode
+ * @param base_mode The new base mode
+ * @param custom_mode The new autopilot-specific mode. This field can be ignored by an autopilot.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t base_mode,uint32_t custom_mode)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[6];
+ _mav_put_uint32_t(buf, 0, custom_mode);
+ _mav_put_uint8_t(buf, 4, target_system);
+ _mav_put_uint8_t(buf, 5, base_mode);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
+#else
+ mavlink_set_mode_t packet;
+ packet.custom_mode = custom_mode;
+ packet.target_system = target_system;
+ packet.base_mode = base_mode;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_MODE;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6, 89);
+}
+
+/**
+ * @brief Encode a set_mode 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 set_mode C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_set_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mode_t* set_mode)
+{
+ return mavlink_msg_set_mode_pack(system_id, component_id, msg, set_mode->target_system, set_mode->base_mode, set_mode->custom_mode);
+}
+
+/**
+ * @brief Send a set_mode message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system The system setting the mode
+ * @param base_mode The new base mode
+ * @param custom_mode The new autopilot-specific mode. This field can be ignored by an autopilot.
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t target_system, uint8_t base_mode, uint32_t custom_mode)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[6];
+ _mav_put_uint32_t(buf, 0, custom_mode);
+ _mav_put_uint8_t(buf, 4, target_system);
+ _mav_put_uint8_t(buf, 5, base_mode);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, 6, 89);
+#else
+ mavlink_set_mode_t packet;
+ packet.custom_mode = custom_mode;
+ packet.target_system = target_system;
+ packet.base_mode = base_mode;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)&packet, 6, 89);
+#endif
+}
+
+#endif
+
+// MESSAGE SET_MODE UNPACKING
+
+
+/**
+ * @brief Get field target_system from set_mode message
+ *
+ * @return The system setting the mode
+ */
+static inline uint8_t mavlink_msg_set_mode_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 4);
+}
+
+/**
+ * @brief Get field base_mode from set_mode message
+ *
+ * @return The new base mode
+ */
+static inline uint8_t mavlink_msg_set_mode_get_base_mode(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 5);
+}
+
+/**
+ * @brief Get field custom_mode from set_mode message
+ *
+ * @return The new autopilot-specific mode. This field can be ignored by an autopilot.
+ */
+static inline uint32_t mavlink_msg_set_mode_get_custom_mode(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Decode a set_mode message into a struct
+ *
+ * @param msg The message to decode
+ * @param set_mode C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_set_mode_decode(const mavlink_message_t* msg, mavlink_set_mode_t* set_mode)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ set_mode->custom_mode = mavlink_msg_set_mode_get_custom_mode(msg);
+ set_mode->target_system = mavlink_msg_set_mode_get_target_system(msg);
+ set_mode->base_mode = mavlink_msg_set_mode_get_base_mode(msg);
+#else
+ memcpy(set_mode, _MAV_PAYLOAD(msg), 6);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_quad_motors_setpoint.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_quad_motors_setpoint.h
new file mode 100644
index 0000000..40ff899
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_quad_motors_setpoint.h
@@ -0,0 +1,232 @@
+// MESSAGE SET_QUAD_MOTORS_SETPOINT PACKING
+
+#define MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT 60
+
+typedef struct __mavlink_set_quad_motors_setpoint_t
+{
+ uint16_t motor_front_nw; ///< Front motor in + configuration, front left motor in x configuration
+ uint16_t motor_right_ne; ///< Right motor in + configuration, front right motor in x configuration
+ uint16_t motor_back_se; ///< Back motor in + configuration, back right motor in x configuration
+ uint16_t motor_left_sw; ///< Left motor in + configuration, back left motor in x configuration
+ uint8_t target_system; ///< System ID of the system that should set these motor commands
+} mavlink_set_quad_motors_setpoint_t;
+
+#define MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN 9
+#define MAVLINK_MSG_ID_60_LEN 9
+
+
+
+#define MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT { \
+ "SET_QUAD_MOTORS_SETPOINT", \
+ 5, \
+ { { "motor_front_nw", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_set_quad_motors_setpoint_t, motor_front_nw) }, \
+ { "motor_right_ne", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_set_quad_motors_setpoint_t, motor_right_ne) }, \
+ { "motor_back_se", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_set_quad_motors_setpoint_t, motor_back_se) }, \
+ { "motor_left_sw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_set_quad_motors_setpoint_t, motor_left_sw) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_set_quad_motors_setpoint_t, target_system) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a set_quad_motors_setpoint 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_system System ID of the system that should set these motor commands
+ * @param motor_front_nw Front motor in + configuration, front left motor in x configuration
+ * @param motor_right_ne Right motor in + configuration, front right motor in x configuration
+ * @param motor_back_se Back motor in + configuration, back right motor in x configuration
+ * @param motor_left_sw Left motor in + configuration, back left motor in x configuration
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_quad_motors_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint16_t motor_front_nw, uint16_t motor_right_ne, uint16_t motor_back_se, uint16_t motor_left_sw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[9];
+ _mav_put_uint16_t(buf, 0, motor_front_nw);
+ _mav_put_uint16_t(buf, 2, motor_right_ne);
+ _mav_put_uint16_t(buf, 4, motor_back_se);
+ _mav_put_uint16_t(buf, 6, motor_left_sw);
+ _mav_put_uint8_t(buf, 8, target_system);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
+#else
+ mavlink_set_quad_motors_setpoint_t packet;
+ packet.motor_front_nw = motor_front_nw;
+ packet.motor_right_ne = motor_right_ne;
+ packet.motor_back_se = motor_back_se;
+ packet.motor_left_sw = motor_left_sw;
+ packet.target_system = target_system;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT;
+ return mavlink_finalize_message(msg, system_id, component_id, 9, 30);
+}
+
+/**
+ * @brief Pack a set_quad_motors_setpoint 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID of the system that should set these motor commands
+ * @param motor_front_nw Front motor in + configuration, front left motor in x configuration
+ * @param motor_right_ne Right motor in + configuration, front right motor in x configuration
+ * @param motor_back_se Back motor in + configuration, back right motor in x configuration
+ * @param motor_left_sw Left motor in + configuration, back left motor in x configuration
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_quad_motors_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint16_t motor_front_nw,uint16_t motor_right_ne,uint16_t motor_back_se,uint16_t motor_left_sw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[9];
+ _mav_put_uint16_t(buf, 0, motor_front_nw);
+ _mav_put_uint16_t(buf, 2, motor_right_ne);
+ _mav_put_uint16_t(buf, 4, motor_back_se);
+ _mav_put_uint16_t(buf, 6, motor_left_sw);
+ _mav_put_uint8_t(buf, 8, target_system);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
+#else
+ mavlink_set_quad_motors_setpoint_t packet;
+ packet.motor_front_nw = motor_front_nw;
+ packet.motor_right_ne = motor_right_ne;
+ packet.motor_back_se = motor_back_se;
+ packet.motor_left_sw = motor_left_sw;
+ packet.target_system = target_system;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 30);
+}
+
+/**
+ * @brief Encode a set_quad_motors_setpoint 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 set_quad_motors_setpoint C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_set_quad_motors_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_quad_motors_setpoint_t* set_quad_motors_setpoint)
+{
+ return mavlink_msg_set_quad_motors_setpoint_pack(system_id, component_id, msg, set_quad_motors_setpoint->target_system, set_quad_motors_setpoint->motor_front_nw, set_quad_motors_setpoint->motor_right_ne, set_quad_motors_setpoint->motor_back_se, set_quad_motors_setpoint->motor_left_sw);
+}
+
+/**
+ * @brief Send a set_quad_motors_setpoint message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID of the system that should set these motor commands
+ * @param motor_front_nw Front motor in + configuration, front left motor in x configuration
+ * @param motor_right_ne Right motor in + configuration, front right motor in x configuration
+ * @param motor_back_se Back motor in + configuration, back right motor in x configuration
+ * @param motor_left_sw Left motor in + configuration, back left motor in x configuration
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_set_quad_motors_setpoint_send(mavlink_channel_t chan, uint8_t target_system, uint16_t motor_front_nw, uint16_t motor_right_ne, uint16_t motor_back_se, uint16_t motor_left_sw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[9];
+ _mav_put_uint16_t(buf, 0, motor_front_nw);
+ _mav_put_uint16_t(buf, 2, motor_right_ne);
+ _mav_put_uint16_t(buf, 4, motor_back_se);
+ _mav_put_uint16_t(buf, 6, motor_left_sw);
+ _mav_put_uint8_t(buf, 8, target_system);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT, buf, 9, 30);
+#else
+ mavlink_set_quad_motors_setpoint_t packet;
+ packet.motor_front_nw = motor_front_nw;
+ packet.motor_right_ne = motor_right_ne;
+ packet.motor_back_se = motor_back_se;
+ packet.motor_left_sw = motor_left_sw;
+ packet.target_system = target_system;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT, (const char *)&packet, 9, 30);
+#endif
+}
+
+#endif
+
+// MESSAGE SET_QUAD_MOTORS_SETPOINT UNPACKING
+
+
+/**
+ * @brief Get field target_system from set_quad_motors_setpoint message
+ *
+ * @return System ID of the system that should set these motor commands
+ */
+static inline uint8_t mavlink_msg_set_quad_motors_setpoint_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 8);
+}
+
+/**
+ * @brief Get field motor_front_nw from set_quad_motors_setpoint message
+ *
+ * @return Front motor in + configuration, front left motor in x configuration
+ */
+static inline uint16_t mavlink_msg_set_quad_motors_setpoint_get_motor_front_nw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 0);
+}
+
+/**
+ * @brief Get field motor_right_ne from set_quad_motors_setpoint message
+ *
+ * @return Right motor in + configuration, front right motor in x configuration
+ */
+static inline uint16_t mavlink_msg_set_quad_motors_setpoint_get_motor_right_ne(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 2);
+}
+
+/**
+ * @brief Get field motor_back_se from set_quad_motors_setpoint message
+ *
+ * @return Back motor in + configuration, back right motor in x configuration
+ */
+static inline uint16_t mavlink_msg_set_quad_motors_setpoint_get_motor_back_se(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 4);
+}
+
+/**
+ * @brief Get field motor_left_sw from set_quad_motors_setpoint message
+ *
+ * @return Left motor in + configuration, back left motor in x configuration
+ */
+static inline uint16_t mavlink_msg_set_quad_motors_setpoint_get_motor_left_sw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 6);
+}
+
+/**
+ * @brief Decode a set_quad_motors_setpoint message into a struct
+ *
+ * @param msg The message to decode
+ * @param set_quad_motors_setpoint C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_set_quad_motors_setpoint_decode(const mavlink_message_t* msg, mavlink_set_quad_motors_setpoint_t* set_quad_motors_setpoint)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ set_quad_motors_setpoint->motor_front_nw = mavlink_msg_set_quad_motors_setpoint_get_motor_front_nw(msg);
+ set_quad_motors_setpoint->motor_right_ne = mavlink_msg_set_quad_motors_setpoint_get_motor_right_ne(msg);
+ set_quad_motors_setpoint->motor_back_se = mavlink_msg_set_quad_motors_setpoint_get_motor_back_se(msg);
+ set_quad_motors_setpoint->motor_left_sw = mavlink_msg_set_quad_motors_setpoint_get_motor_left_sw(msg);
+ set_quad_motors_setpoint->target_system = mavlink_msg_set_quad_motors_setpoint_get_target_system(msg);
+#else
+ memcpy(set_quad_motors_setpoint, _MAV_PAYLOAD(msg), 9);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust.h
new file mode 100644
index 0000000..75a1420
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust.h
@@ -0,0 +1,320 @@
+// MESSAGE SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST PACKING
+
+#define MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST 63
+
+typedef struct __mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t
+{
+ int16_t roll[4]; ///< Desired roll angle in radians +-PI (+-32767)
+ int16_t pitch[4]; ///< Desired pitch angle in radians +-PI (+-32767)
+ int16_t yaw[4]; ///< Desired yaw angle in radians, scaled to int16 +-PI (+-32767)
+ uint16_t thrust[4]; ///< Collective thrust, scaled to uint16 (0..65535)
+ uint8_t group; ///< ID of the quadrotor group (0 - 255, up to 256 groups supported)
+ uint8_t mode; ///< ID of the flight mode (0 - 255, up to 256 modes supported)
+ uint8_t led_red[4]; ///< RGB red channel (0-255)
+ uint8_t led_blue[4]; ///< RGB green channel (0-255)
+ uint8_t led_green[4]; ///< RGB blue channel (0-255)
+} mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t;
+
+#define MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN 46
+#define MAVLINK_MSG_ID_63_LEN 46
+
+#define MAVLINK_MSG_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_FIELD_ROLL_LEN 4
+#define MAVLINK_MSG_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_FIELD_PITCH_LEN 4
+#define MAVLINK_MSG_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_FIELD_YAW_LEN 4
+#define MAVLINK_MSG_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_FIELD_THRUST_LEN 4
+#define MAVLINK_MSG_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_FIELD_LED_RED_LEN 4
+#define MAVLINK_MSG_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_FIELD_LED_BLUE_LEN 4
+#define MAVLINK_MSG_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_FIELD_LED_GREEN_LEN 4
+
+#define MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST { \
+ "SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST", \
+ 9, \
+ { { "roll", NULL, MAVLINK_TYPE_INT16_T, 4, 0, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, roll) }, \
+ { "pitch", NULL, MAVLINK_TYPE_INT16_T, 4, 8, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, pitch) }, \
+ { "yaw", NULL, MAVLINK_TYPE_INT16_T, 4, 16, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, yaw) }, \
+ { "thrust", NULL, MAVLINK_TYPE_UINT16_T, 4, 24, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, thrust) }, \
+ { "group", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, group) }, \
+ { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, mode) }, \
+ { "led_red", NULL, MAVLINK_TYPE_UINT8_T, 4, 34, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, led_red) }, \
+ { "led_blue", NULL, MAVLINK_TYPE_UINT8_T, 4, 38, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, led_blue) }, \
+ { "led_green", NULL, MAVLINK_TYPE_UINT8_T, 4, 42, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, led_green) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a set_quad_swarm_led_roll_pitch_yaw_thrust 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 group ID of the quadrotor group (0 - 255, up to 256 groups supported)
+ * @param mode ID of the flight mode (0 - 255, up to 256 modes supported)
+ * @param led_red RGB red channel (0-255)
+ * @param led_blue RGB green channel (0-255)
+ * @param led_green RGB blue channel (0-255)
+ * @param roll Desired roll angle in radians +-PI (+-32767)
+ * @param pitch Desired pitch angle in radians +-PI (+-32767)
+ * @param yaw Desired yaw angle in radians, scaled to int16 +-PI (+-32767)
+ * @param thrust Collective thrust, scaled to uint16 (0..65535)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t group, uint8_t mode, const uint8_t *led_red, const uint8_t *led_blue, const uint8_t *led_green, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[46];
+ _mav_put_uint8_t(buf, 32, group);
+ _mav_put_uint8_t(buf, 33, mode);
+ _mav_put_int16_t_array(buf, 0, roll, 4);
+ _mav_put_int16_t_array(buf, 8, pitch, 4);
+ _mav_put_int16_t_array(buf, 16, yaw, 4);
+ _mav_put_uint16_t_array(buf, 24, thrust, 4);
+ _mav_put_uint8_t_array(buf, 34, led_red, 4);
+ _mav_put_uint8_t_array(buf, 38, led_blue, 4);
+ _mav_put_uint8_t_array(buf, 42, led_green, 4);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 46);
+#else
+ mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t packet;
+ packet.group = group;
+ packet.mode = mode;
+ mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*4);
+ mav_array_memcpy(packet.led_red, led_red, sizeof(uint8_t)*4);
+ mav_array_memcpy(packet.led_blue, led_blue, sizeof(uint8_t)*4);
+ mav_array_memcpy(packet.led_green, led_green, sizeof(uint8_t)*4);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 46);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST;
+ return mavlink_finalize_message(msg, system_id, component_id, 46, 130);
+}
+
+/**
+ * @brief Pack a set_quad_swarm_led_roll_pitch_yaw_thrust 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param group ID of the quadrotor group (0 - 255, up to 256 groups supported)
+ * @param mode ID of the flight mode (0 - 255, up to 256 modes supported)
+ * @param led_red RGB red channel (0-255)
+ * @param led_blue RGB green channel (0-255)
+ * @param led_green RGB blue channel (0-255)
+ * @param roll Desired roll angle in radians +-PI (+-32767)
+ * @param pitch Desired pitch angle in radians +-PI (+-32767)
+ * @param yaw Desired yaw angle in radians, scaled to int16 +-PI (+-32767)
+ * @param thrust Collective thrust, scaled to uint16 (0..65535)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t group,uint8_t mode,const uint8_t *led_red,const uint8_t *led_blue,const uint8_t *led_green,const int16_t *roll,const int16_t *pitch,const int16_t *yaw,const uint16_t *thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[46];
+ _mav_put_uint8_t(buf, 32, group);
+ _mav_put_uint8_t(buf, 33, mode);
+ _mav_put_int16_t_array(buf, 0, roll, 4);
+ _mav_put_int16_t_array(buf, 8, pitch, 4);
+ _mav_put_int16_t_array(buf, 16, yaw, 4);
+ _mav_put_uint16_t_array(buf, 24, thrust, 4);
+ _mav_put_uint8_t_array(buf, 34, led_red, 4);
+ _mav_put_uint8_t_array(buf, 38, led_blue, 4);
+ _mav_put_uint8_t_array(buf, 42, led_green, 4);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 46);
+#else
+ mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t packet;
+ packet.group = group;
+ packet.mode = mode;
+ mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*4);
+ mav_array_memcpy(packet.led_red, led_red, sizeof(uint8_t)*4);
+ mav_array_memcpy(packet.led_blue, led_blue, sizeof(uint8_t)*4);
+ mav_array_memcpy(packet.led_green, led_green, sizeof(uint8_t)*4);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 46);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 46, 130);
+}
+
+/**
+ * @brief Encode a set_quad_swarm_led_roll_pitch_yaw_thrust 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 set_quad_swarm_led_roll_pitch_yaw_thrust C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t* set_quad_swarm_led_roll_pitch_yaw_thrust)
+{
+ return mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_pack(system_id, component_id, msg, set_quad_swarm_led_roll_pitch_yaw_thrust->group, set_quad_swarm_led_roll_pitch_yaw_thrust->mode, set_quad_swarm_led_roll_pitch_yaw_thrust->led_red, set_quad_swarm_led_roll_pitch_yaw_thrust->led_blue, set_quad_swarm_led_roll_pitch_yaw_thrust->led_green, set_quad_swarm_led_roll_pitch_yaw_thrust->roll, set_quad_swarm_led_roll_pitch_yaw_thrust->pitch, set_quad_swarm_led_roll_pitch_yaw_thrust->yaw, set_quad_swarm_led_roll_pitch_yaw_thrust->thrust);
+}
+
+/**
+ * @brief Send a set_quad_swarm_led_roll_pitch_yaw_thrust message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param group ID of the quadrotor group (0 - 255, up to 256 groups supported)
+ * @param mode ID of the flight mode (0 - 255, up to 256 modes supported)
+ * @param led_red RGB red channel (0-255)
+ * @param led_blue RGB green channel (0-255)
+ * @param led_green RGB blue channel (0-255)
+ * @param roll Desired roll angle in radians +-PI (+-32767)
+ * @param pitch Desired pitch angle in radians +-PI (+-32767)
+ * @param yaw Desired yaw angle in radians, scaled to int16 +-PI (+-32767)
+ * @param thrust Collective thrust, scaled to uint16 (0..65535)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_send(mavlink_channel_t chan, uint8_t group, uint8_t mode, const uint8_t *led_red, const uint8_t *led_blue, const uint8_t *led_green, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[46];
+ _mav_put_uint8_t(buf, 32, group);
+ _mav_put_uint8_t(buf, 33, mode);
+ _mav_put_int16_t_array(buf, 0, roll, 4);
+ _mav_put_int16_t_array(buf, 8, pitch, 4);
+ _mav_put_int16_t_array(buf, 16, yaw, 4);
+ _mav_put_uint16_t_array(buf, 24, thrust, 4);
+ _mav_put_uint8_t_array(buf, 34, led_red, 4);
+ _mav_put_uint8_t_array(buf, 38, led_blue, 4);
+ _mav_put_uint8_t_array(buf, 42, led_green, 4);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, buf, 46, 130);
+#else
+ mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t packet;
+ packet.group = group;
+ packet.mode = mode;
+ mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*4);
+ mav_array_memcpy(packet.led_red, led_red, sizeof(uint8_t)*4);
+ mav_array_memcpy(packet.led_blue, led_blue, sizeof(uint8_t)*4);
+ mav_array_memcpy(packet.led_green, led_green, sizeof(uint8_t)*4);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, (const char *)&packet, 46, 130);
+#endif
+}
+
+#endif
+
+// MESSAGE SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST UNPACKING
+
+
+/**
+ * @brief Get field group from set_quad_swarm_led_roll_pitch_yaw_thrust message
+ *
+ * @return ID of the quadrotor group (0 - 255, up to 256 groups supported)
+ */
+static inline uint8_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_group(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 32);
+}
+
+/**
+ * @brief Get field mode from set_quad_swarm_led_roll_pitch_yaw_thrust message
+ *
+ * @return ID of the flight mode (0 - 255, up to 256 modes supported)
+ */
+static inline uint8_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_mode(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 33);
+}
+
+/**
+ * @brief Get field led_red from set_quad_swarm_led_roll_pitch_yaw_thrust message
+ *
+ * @return RGB red channel (0-255)
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_led_red(const mavlink_message_t* msg, uint8_t *led_red)
+{
+ return _MAV_RETURN_uint8_t_array(msg, led_red, 4, 34);
+}
+
+/**
+ * @brief Get field led_blue from set_quad_swarm_led_roll_pitch_yaw_thrust message
+ *
+ * @return RGB green channel (0-255)
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_led_blue(const mavlink_message_t* msg, uint8_t *led_blue)
+{
+ return _MAV_RETURN_uint8_t_array(msg, led_blue, 4, 38);
+}
+
+/**
+ * @brief Get field led_green from set_quad_swarm_led_roll_pitch_yaw_thrust message
+ *
+ * @return RGB blue channel (0-255)
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_led_green(const mavlink_message_t* msg, uint8_t *led_green)
+{
+ return _MAV_RETURN_uint8_t_array(msg, led_green, 4, 42);
+}
+
+/**
+ * @brief Get field roll from set_quad_swarm_led_roll_pitch_yaw_thrust message
+ *
+ * @return Desired roll angle in radians +-PI (+-32767)
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_roll(const mavlink_message_t* msg, int16_t *roll)
+{
+ return _MAV_RETURN_int16_t_array(msg, roll, 4, 0);
+}
+
+/**
+ * @brief Get field pitch from set_quad_swarm_led_roll_pitch_yaw_thrust message
+ *
+ * @return Desired pitch angle in radians +-PI (+-32767)
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_pitch(const mavlink_message_t* msg, int16_t *pitch)
+{
+ return _MAV_RETURN_int16_t_array(msg, pitch, 4, 8);
+}
+
+/**
+ * @brief Get field yaw from set_quad_swarm_led_roll_pitch_yaw_thrust message
+ *
+ * @return Desired yaw angle in radians, scaled to int16 +-PI (+-32767)
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_yaw(const mavlink_message_t* msg, int16_t *yaw)
+{
+ return _MAV_RETURN_int16_t_array(msg, yaw, 4, 16);
+}
+
+/**
+ * @brief Get field thrust from set_quad_swarm_led_roll_pitch_yaw_thrust message
+ *
+ * @return Collective thrust, scaled to uint16 (0..65535)
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_thrust(const mavlink_message_t* msg, uint16_t *thrust)
+{
+ return _MAV_RETURN_uint16_t_array(msg, thrust, 4, 24);
+}
+
+/**
+ * @brief Decode a set_quad_swarm_led_roll_pitch_yaw_thrust message into a struct
+ *
+ * @param msg The message to decode
+ * @param set_quad_swarm_led_roll_pitch_yaw_thrust C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_decode(const mavlink_message_t* msg, mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t* set_quad_swarm_led_roll_pitch_yaw_thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_roll(msg, set_quad_swarm_led_roll_pitch_yaw_thrust->roll);
+ mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_pitch(msg, set_quad_swarm_led_roll_pitch_yaw_thrust->pitch);
+ mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_yaw(msg, set_quad_swarm_led_roll_pitch_yaw_thrust->yaw);
+ mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_thrust(msg, set_quad_swarm_led_roll_pitch_yaw_thrust->thrust);
+ set_quad_swarm_led_roll_pitch_yaw_thrust->group = mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_group(msg);
+ set_quad_swarm_led_roll_pitch_yaw_thrust->mode = mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_mode(msg);
+ mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_led_red(msg, set_quad_swarm_led_roll_pitch_yaw_thrust->led_red);
+ mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_led_blue(msg, set_quad_swarm_led_roll_pitch_yaw_thrust->led_blue);
+ mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_led_green(msg, set_quad_swarm_led_roll_pitch_yaw_thrust->led_green);
+#else
+ memcpy(set_quad_swarm_led_roll_pitch_yaw_thrust, _MAV_PAYLOAD(msg), 46);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h
new file mode 100644
index 0000000..35c5db1
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h
@@ -0,0 +1,251 @@
+// MESSAGE SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST PACKING
+
+#define MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST 61
+
+typedef struct __mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t
+{
+ int16_t roll[4]; ///< Desired roll angle in radians +-PI (+-32767)
+ int16_t pitch[4]; ///< Desired pitch angle in radians +-PI (+-32767)
+ int16_t yaw[4]; ///< Desired yaw angle in radians, scaled to int16 +-PI (+-32767)
+ uint16_t thrust[4]; ///< Collective thrust, scaled to uint16 (0..65535)
+ uint8_t group; ///< ID of the quadrotor group (0 - 255, up to 256 groups supported)
+ uint8_t mode; ///< ID of the flight mode (0 - 255, up to 256 modes supported)
+} mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t;
+
+#define MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN 34
+#define MAVLINK_MSG_ID_61_LEN 34
+
+#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_ROLL_LEN 4
+#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_PITCH_LEN 4
+#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_YAW_LEN 4
+#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_THRUST_LEN 4
+
+#define MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST { \
+ "SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST", \
+ 6, \
+ { { "roll", NULL, MAVLINK_TYPE_INT16_T, 4, 0, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, roll) }, \
+ { "pitch", NULL, MAVLINK_TYPE_INT16_T, 4, 8, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, pitch) }, \
+ { "yaw", NULL, MAVLINK_TYPE_INT16_T, 4, 16, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, yaw) }, \
+ { "thrust", NULL, MAVLINK_TYPE_UINT16_T, 4, 24, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, thrust) }, \
+ { "group", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, group) }, \
+ { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, mode) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a set_quad_swarm_roll_pitch_yaw_thrust 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 group ID of the quadrotor group (0 - 255, up to 256 groups supported)
+ * @param mode ID of the flight mode (0 - 255, up to 256 modes supported)
+ * @param roll Desired roll angle in radians +-PI (+-32767)
+ * @param pitch Desired pitch angle in radians +-PI (+-32767)
+ * @param yaw Desired yaw angle in radians, scaled to int16 +-PI (+-32767)
+ * @param thrust Collective thrust, scaled to uint16 (0..65535)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t group, uint8_t mode, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[34];
+ _mav_put_uint8_t(buf, 32, group);
+ _mav_put_uint8_t(buf, 33, mode);
+ _mav_put_int16_t_array(buf, 0, roll, 4);
+ _mav_put_int16_t_array(buf, 8, pitch, 4);
+ _mav_put_int16_t_array(buf, 16, yaw, 4);
+ _mav_put_uint16_t_array(buf, 24, thrust, 4);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 34);
+#else
+ mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet;
+ packet.group = group;
+ packet.mode = mode;
+ mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*4);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 34);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST;
+ return mavlink_finalize_message(msg, system_id, component_id, 34, 240);
+}
+
+/**
+ * @brief Pack a set_quad_swarm_roll_pitch_yaw_thrust 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param group ID of the quadrotor group (0 - 255, up to 256 groups supported)
+ * @param mode ID of the flight mode (0 - 255, up to 256 modes supported)
+ * @param roll Desired roll angle in radians +-PI (+-32767)
+ * @param pitch Desired pitch angle in radians +-PI (+-32767)
+ * @param yaw Desired yaw angle in radians, scaled to int16 +-PI (+-32767)
+ * @param thrust Collective thrust, scaled to uint16 (0..65535)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t group,uint8_t mode,const int16_t *roll,const int16_t *pitch,const int16_t *yaw,const uint16_t *thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[34];
+ _mav_put_uint8_t(buf, 32, group);
+ _mav_put_uint8_t(buf, 33, mode);
+ _mav_put_int16_t_array(buf, 0, roll, 4);
+ _mav_put_int16_t_array(buf, 8, pitch, 4);
+ _mav_put_int16_t_array(buf, 16, yaw, 4);
+ _mav_put_uint16_t_array(buf, 24, thrust, 4);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 34);
+#else
+ mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet;
+ packet.group = group;
+ packet.mode = mode;
+ mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*4);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 34);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 34, 240);
+}
+
+/**
+ * @brief Encode a set_quad_swarm_roll_pitch_yaw_thrust 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 set_quad_swarm_roll_pitch_yaw_thrust C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t* set_quad_swarm_roll_pitch_yaw_thrust)
+{
+ return mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack(system_id, component_id, msg, set_quad_swarm_roll_pitch_yaw_thrust->group, set_quad_swarm_roll_pitch_yaw_thrust->mode, set_quad_swarm_roll_pitch_yaw_thrust->roll, set_quad_swarm_roll_pitch_yaw_thrust->pitch, set_quad_swarm_roll_pitch_yaw_thrust->yaw, set_quad_swarm_roll_pitch_yaw_thrust->thrust);
+}
+
+/**
+ * @brief Send a set_quad_swarm_roll_pitch_yaw_thrust message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param group ID of the quadrotor group (0 - 255, up to 256 groups supported)
+ * @param mode ID of the flight mode (0 - 255, up to 256 modes supported)
+ * @param roll Desired roll angle in radians +-PI (+-32767)
+ * @param pitch Desired pitch angle in radians +-PI (+-32767)
+ * @param yaw Desired yaw angle in radians, scaled to int16 +-PI (+-32767)
+ * @param thrust Collective thrust, scaled to uint16 (0..65535)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_send(mavlink_channel_t chan, uint8_t group, uint8_t mode, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[34];
+ _mav_put_uint8_t(buf, 32, group);
+ _mav_put_uint8_t(buf, 33, mode);
+ _mav_put_int16_t_array(buf, 0, roll, 4);
+ _mav_put_int16_t_array(buf, 8, pitch, 4);
+ _mav_put_int16_t_array(buf, 16, yaw, 4);
+ _mav_put_uint16_t_array(buf, 24, thrust, 4);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, buf, 34, 240);
+#else
+ mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet;
+ packet.group = group;
+ packet.mode = mode;
+ mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*4);
+ mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*4);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, (const char *)&packet, 34, 240);
+#endif
+}
+
+#endif
+
+// MESSAGE SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST UNPACKING
+
+
+/**
+ * @brief Get field group from set_quad_swarm_roll_pitch_yaw_thrust message
+ *
+ * @return ID of the quadrotor group (0 - 255, up to 256 groups supported)
+ */
+static inline uint8_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_group(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 32);
+}
+
+/**
+ * @brief Get field mode from set_quad_swarm_roll_pitch_yaw_thrust message
+ *
+ * @return ID of the flight mode (0 - 255, up to 256 modes supported)
+ */
+static inline uint8_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_mode(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 33);
+}
+
+/**
+ * @brief Get field roll from set_quad_swarm_roll_pitch_yaw_thrust message
+ *
+ * @return Desired roll angle in radians +-PI (+-32767)
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_roll(const mavlink_message_t* msg, int16_t *roll)
+{
+ return _MAV_RETURN_int16_t_array(msg, roll, 4, 0);
+}
+
+/**
+ * @brief Get field pitch from set_quad_swarm_roll_pitch_yaw_thrust message
+ *
+ * @return Desired pitch angle in radians +-PI (+-32767)
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_pitch(const mavlink_message_t* msg, int16_t *pitch)
+{
+ return _MAV_RETURN_int16_t_array(msg, pitch, 4, 8);
+}
+
+/**
+ * @brief Get field yaw from set_quad_swarm_roll_pitch_yaw_thrust message
+ *
+ * @return Desired yaw angle in radians, scaled to int16 +-PI (+-32767)
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_yaw(const mavlink_message_t* msg, int16_t *yaw)
+{
+ return _MAV_RETURN_int16_t_array(msg, yaw, 4, 16);
+}
+
+/**
+ * @brief Get field thrust from set_quad_swarm_roll_pitch_yaw_thrust message
+ *
+ * @return Collective thrust, scaled to uint16 (0..65535)
+ */
+static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_thrust(const mavlink_message_t* msg, uint16_t *thrust)
+{
+ return _MAV_RETURN_uint16_t_array(msg, thrust, 4, 24);
+}
+
+/**
+ * @brief Decode a set_quad_swarm_roll_pitch_yaw_thrust message into a struct
+ *
+ * @param msg The message to decode
+ * @param set_quad_swarm_roll_pitch_yaw_thrust C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(const mavlink_message_t* msg, mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t* set_quad_swarm_roll_pitch_yaw_thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_roll(msg, set_quad_swarm_roll_pitch_yaw_thrust->roll);
+ mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_pitch(msg, set_quad_swarm_roll_pitch_yaw_thrust->pitch);
+ mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_yaw(msg, set_quad_swarm_roll_pitch_yaw_thrust->yaw);
+ mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_thrust(msg, set_quad_swarm_roll_pitch_yaw_thrust->thrust);
+ set_quad_swarm_roll_pitch_yaw_thrust->group = mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_group(msg);
+ set_quad_swarm_roll_pitch_yaw_thrust->mode = mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_mode(msg);
+#else
+ memcpy(set_quad_swarm_roll_pitch_yaw_thrust, _MAV_PAYLOAD(msg), 34);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h
new file mode 100644
index 0000000..b79a7e9
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h
@@ -0,0 +1,254 @@
+// MESSAGE SET_ROLL_PITCH_YAW_SPEED_THRUST PACKING
+
+#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST 57
+
+typedef struct __mavlink_set_roll_pitch_yaw_speed_thrust_t
+{
+ float roll_speed; ///< Desired roll angular speed in rad/s
+ float pitch_speed; ///< Desired pitch angular speed in rad/s
+ float yaw_speed; ///< Desired yaw angular speed in rad/s
+ float thrust; ///< Collective thrust, normalized to 0 .. 1
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_set_roll_pitch_yaw_speed_thrust_t;
+
+#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN 18
+#define MAVLINK_MSG_ID_57_LEN 18
+
+
+
+#define MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST { \
+ "SET_ROLL_PITCH_YAW_SPEED_THRUST", \
+ 6, \
+ { { "roll_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, roll_speed) }, \
+ { "pitch_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, pitch_speed) }, \
+ { "yaw_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, yaw_speed) }, \
+ { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, thrust) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, target_component) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a set_roll_pitch_yaw_speed_thrust 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_system System ID
+ * @param target_component Component ID
+ * @param roll_speed Desired roll angular speed in rad/s
+ * @param pitch_speed Desired pitch angular speed in rad/s
+ * @param yaw_speed Desired yaw angular speed in rad/s
+ * @param thrust Collective thrust, normalized to 0 .. 1
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[18];
+ _mav_put_float(buf, 0, roll_speed);
+ _mav_put_float(buf, 4, pitch_speed);
+ _mav_put_float(buf, 8, yaw_speed);
+ _mav_put_float(buf, 12, thrust);
+ _mav_put_uint8_t(buf, 16, target_system);
+ _mav_put_uint8_t(buf, 17, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
+#else
+ mavlink_set_roll_pitch_yaw_speed_thrust_t packet;
+ packet.roll_speed = roll_speed;
+ packet.pitch_speed = pitch_speed;
+ packet.yaw_speed = yaw_speed;
+ packet.thrust = thrust;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST;
+ return mavlink_finalize_message(msg, system_id, component_id, 18, 24);
+}
+
+/**
+ * @brief Pack a set_roll_pitch_yaw_speed_thrust 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param roll_speed Desired roll angular speed in rad/s
+ * @param pitch_speed Desired pitch angular speed in rad/s
+ * @param yaw_speed Desired yaw angular speed in rad/s
+ * @param thrust Collective thrust, normalized to 0 .. 1
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,float roll_speed,float pitch_speed,float yaw_speed,float thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[18];
+ _mav_put_float(buf, 0, roll_speed);
+ _mav_put_float(buf, 4, pitch_speed);
+ _mav_put_float(buf, 8, yaw_speed);
+ _mav_put_float(buf, 12, thrust);
+ _mav_put_uint8_t(buf, 16, target_system);
+ _mav_put_uint8_t(buf, 17, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
+#else
+ mavlink_set_roll_pitch_yaw_speed_thrust_t packet;
+ packet.roll_speed = roll_speed;
+ packet.pitch_speed = pitch_speed;
+ packet.yaw_speed = yaw_speed;
+ packet.thrust = thrust;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 24);
+}
+
+/**
+ * @brief Encode a set_roll_pitch_yaw_speed_thrust 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 set_roll_pitch_yaw_speed_thrust C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_roll_pitch_yaw_speed_thrust_t* set_roll_pitch_yaw_speed_thrust)
+{
+ return mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(system_id, component_id, msg, set_roll_pitch_yaw_speed_thrust->target_system, set_roll_pitch_yaw_speed_thrust->target_component, set_roll_pitch_yaw_speed_thrust->roll_speed, set_roll_pitch_yaw_speed_thrust->pitch_speed, set_roll_pitch_yaw_speed_thrust->yaw_speed, set_roll_pitch_yaw_speed_thrust->thrust);
+}
+
+/**
+ * @brief Send a set_roll_pitch_yaw_speed_thrust message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param roll_speed Desired roll angular speed in rad/s
+ * @param pitch_speed Desired pitch angular speed in rad/s
+ * @param yaw_speed Desired yaw angular speed in rad/s
+ * @param thrust Collective thrust, normalized to 0 .. 1
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[18];
+ _mav_put_float(buf, 0, roll_speed);
+ _mav_put_float(buf, 4, pitch_speed);
+ _mav_put_float(buf, 8, yaw_speed);
+ _mav_put_float(buf, 12, thrust);
+ _mav_put_uint8_t(buf, 16, target_system);
+ _mav_put_uint8_t(buf, 17, target_component);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, buf, 18, 24);
+#else
+ mavlink_set_roll_pitch_yaw_speed_thrust_t packet;
+ packet.roll_speed = roll_speed;
+ packet.pitch_speed = pitch_speed;
+ packet.yaw_speed = yaw_speed;
+ packet.thrust = thrust;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, (const char *)&packet, 18, 24);
+#endif
+}
+
+#endif
+
+// MESSAGE SET_ROLL_PITCH_YAW_SPEED_THRUST UNPACKING
+
+
+/**
+ * @brief Get field target_system from set_roll_pitch_yaw_speed_thrust message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 16);
+}
+
+/**
+ * @brief Get field target_component from set_roll_pitch_yaw_speed_thrust message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 17);
+}
+
+/**
+ * @brief Get field roll_speed from set_roll_pitch_yaw_speed_thrust message
+ *
+ * @return Desired roll angular speed in rad/s
+ */
+static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_roll_speed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field pitch_speed from set_roll_pitch_yaw_speed_thrust message
+ *
+ * @return Desired pitch angular speed in rad/s
+ */
+static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_pitch_speed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field yaw_speed from set_roll_pitch_yaw_speed_thrust message
+ *
+ * @return Desired yaw angular speed in rad/s
+ */
+static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_yaw_speed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field thrust from set_roll_pitch_yaw_speed_thrust message
+ *
+ * @return Collective thrust, normalized to 0 .. 1
+ */
+static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_thrust(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Decode a set_roll_pitch_yaw_speed_thrust message into a struct
+ *
+ * @param msg The message to decode
+ * @param set_roll_pitch_yaw_speed_thrust C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(const mavlink_message_t* msg, mavlink_set_roll_pitch_yaw_speed_thrust_t* set_roll_pitch_yaw_speed_thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ set_roll_pitch_yaw_speed_thrust->roll_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_roll_speed(msg);
+ set_roll_pitch_yaw_speed_thrust->pitch_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_pitch_speed(msg);
+ set_roll_pitch_yaw_speed_thrust->yaw_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_yaw_speed(msg);
+ set_roll_pitch_yaw_speed_thrust->thrust = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_thrust(msg);
+ set_roll_pitch_yaw_speed_thrust->target_system = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_system(msg);
+ set_roll_pitch_yaw_speed_thrust->target_component = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_component(msg);
+#else
+ memcpy(set_roll_pitch_yaw_speed_thrust, _MAV_PAYLOAD(msg), 18);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h
new file mode 100644
index 0000000..8cd573a
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h
@@ -0,0 +1,254 @@
+// MESSAGE SET_ROLL_PITCH_YAW_THRUST PACKING
+
+#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST 56
+
+typedef struct __mavlink_set_roll_pitch_yaw_thrust_t
+{
+ float roll; ///< Desired roll angle in radians
+ float pitch; ///< Desired pitch angle in radians
+ float yaw; ///< Desired yaw angle in radians
+ float thrust; ///< Collective thrust, normalized to 0 .. 1
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_set_roll_pitch_yaw_thrust_t;
+
+#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN 18
+#define MAVLINK_MSG_ID_56_LEN 18
+
+
+
+#define MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST { \
+ "SET_ROLL_PITCH_YAW_THRUST", \
+ 6, \
+ { { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, roll) }, \
+ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, pitch) }, \
+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, yaw) }, \
+ { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, thrust) }, \
+ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, target_system) }, \
+ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, target_component) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a set_roll_pitch_yaw_thrust 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_system System ID
+ * @param target_component Component ID
+ * @param roll Desired roll angle in radians
+ * @param pitch Desired pitch angle in radians
+ * @param yaw Desired yaw angle in radians
+ * @param thrust Collective thrust, normalized to 0 .. 1
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw, float thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[18];
+ _mav_put_float(buf, 0, roll);
+ _mav_put_float(buf, 4, pitch);
+ _mav_put_float(buf, 8, yaw);
+ _mav_put_float(buf, 12, thrust);
+ _mav_put_uint8_t(buf, 16, target_system);
+ _mav_put_uint8_t(buf, 17, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
+#else
+ mavlink_set_roll_pitch_yaw_thrust_t packet;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.thrust = thrust;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST;
+ return mavlink_finalize_message(msg, system_id, component_id, 18, 100);
+}
+
+/**
+ * @brief Pack a set_roll_pitch_yaw_thrust 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param roll Desired roll angle in radians
+ * @param pitch Desired pitch angle in radians
+ * @param yaw Desired yaw angle in radians
+ * @param thrust Collective thrust, normalized to 0 .. 1
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t target_system,uint8_t target_component,float roll,float pitch,float yaw,float thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[18];
+ _mav_put_float(buf, 0, roll);
+ _mav_put_float(buf, 4, pitch);
+ _mav_put_float(buf, 8, yaw);
+ _mav_put_float(buf, 12, thrust);
+ _mav_put_uint8_t(buf, 16, target_system);
+ _mav_put_uint8_t(buf, 17, target_component);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
+#else
+ mavlink_set_roll_pitch_yaw_thrust_t packet;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.thrust = thrust;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 100);
+}
+
+/**
+ * @brief Encode a set_roll_pitch_yaw_thrust 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 set_roll_pitch_yaw_thrust C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_roll_pitch_yaw_thrust_t* set_roll_pitch_yaw_thrust)
+{
+ return mavlink_msg_set_roll_pitch_yaw_thrust_pack(system_id, component_id, msg, set_roll_pitch_yaw_thrust->target_system, set_roll_pitch_yaw_thrust->target_component, set_roll_pitch_yaw_thrust->roll, set_roll_pitch_yaw_thrust->pitch, set_roll_pitch_yaw_thrust->yaw, set_roll_pitch_yaw_thrust->thrust);
+}
+
+/**
+ * @brief Send a set_roll_pitch_yaw_thrust message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param roll Desired roll angle in radians
+ * @param pitch Desired pitch angle in radians
+ * @param yaw Desired yaw angle in radians
+ * @param thrust Collective thrust, normalized to 0 .. 1
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_set_roll_pitch_yaw_thrust_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw, float thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[18];
+ _mav_put_float(buf, 0, roll);
+ _mav_put_float(buf, 4, pitch);
+ _mav_put_float(buf, 8, yaw);
+ _mav_put_float(buf, 12, thrust);
+ _mav_put_uint8_t(buf, 16, target_system);
+ _mav_put_uint8_t(buf, 17, target_component);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, buf, 18, 100);
+#else
+ mavlink_set_roll_pitch_yaw_thrust_t packet;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.thrust = thrust;
+ packet.target_system = target_system;
+ packet.target_component = target_component;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, (const char *)&packet, 18, 100);
+#endif
+}
+
+#endif
+
+// MESSAGE SET_ROLL_PITCH_YAW_THRUST UNPACKING
+
+
+/**
+ * @brief Get field target_system from set_roll_pitch_yaw_thrust message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_set_roll_pitch_yaw_thrust_get_target_system(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 16);
+}
+
+/**
+ * @brief Get field target_component from set_roll_pitch_yaw_thrust message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_set_roll_pitch_yaw_thrust_get_target_component(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 17);
+}
+
+/**
+ * @brief Get field roll from set_roll_pitch_yaw_thrust message
+ *
+ * @return Desired roll angle in radians
+ */
+static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_roll(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field pitch from set_roll_pitch_yaw_thrust message
+ *
+ * @return Desired pitch angle in radians
+ */
+static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_pitch(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field yaw from set_roll_pitch_yaw_thrust message
+ *
+ * @return Desired yaw angle in radians
+ */
+static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field thrust from set_roll_pitch_yaw_thrust message
+ *
+ * @return Collective thrust, normalized to 0 .. 1
+ */
+static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_thrust(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Decode a set_roll_pitch_yaw_thrust message into a struct
+ *
+ * @param msg The message to decode
+ * @param set_roll_pitch_yaw_thrust C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_set_roll_pitch_yaw_thrust_decode(const mavlink_message_t* msg, mavlink_set_roll_pitch_yaw_thrust_t* set_roll_pitch_yaw_thrust)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ set_roll_pitch_yaw_thrust->roll = mavlink_msg_set_roll_pitch_yaw_thrust_get_roll(msg);
+ set_roll_pitch_yaw_thrust->pitch = mavlink_msg_set_roll_pitch_yaw_thrust_get_pitch(msg);
+ set_roll_pitch_yaw_thrust->yaw = mavlink_msg_set_roll_pitch_yaw_thrust_get_yaw(msg);
+ set_roll_pitch_yaw_thrust->thrust = mavlink_msg_set_roll_pitch_yaw_thrust_get_thrust(msg);
+ set_roll_pitch_yaw_thrust->target_system = mavlink_msg_set_roll_pitch_yaw_thrust_get_target_system(msg);
+ set_roll_pitch_yaw_thrust->target_component = mavlink_msg_set_roll_pitch_yaw_thrust_get_target_component(msg);
+#else
+ memcpy(set_roll_pitch_yaw_thrust, _MAV_PAYLOAD(msg), 18);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_state_correction.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_state_correction.h
new file mode 100644
index 0000000..0f4f1f5
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_state_correction.h
@@ -0,0 +1,320 @@
+// MESSAGE STATE_CORRECTION PACKING
+
+#define MAVLINK_MSG_ID_STATE_CORRECTION 64
+
+typedef struct __mavlink_state_correction_t
+{
+ float xErr; ///< x position error
+ float yErr; ///< y position error
+ float zErr; ///< z position error
+ float rollErr; ///< roll error (radians)
+ float pitchErr; ///< pitch error (radians)
+ float yawErr; ///< yaw error (radians)
+ float vxErr; ///< x velocity
+ float vyErr; ///< y velocity
+ float vzErr; ///< z velocity
+} mavlink_state_correction_t;
+
+#define MAVLINK_MSG_ID_STATE_CORRECTION_LEN 36
+#define MAVLINK_MSG_ID_64_LEN 36
+
+
+
+#define MAVLINK_MESSAGE_INFO_STATE_CORRECTION { \
+ "STATE_CORRECTION", \
+ 9, \
+ { { "xErr", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_state_correction_t, xErr) }, \
+ { "yErr", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_state_correction_t, yErr) }, \
+ { "zErr", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_state_correction_t, zErr) }, \
+ { "rollErr", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_state_correction_t, rollErr) }, \
+ { "pitchErr", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_state_correction_t, pitchErr) }, \
+ { "yawErr", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_state_correction_t, yawErr) }, \
+ { "vxErr", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_state_correction_t, vxErr) }, \
+ { "vyErr", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_state_correction_t, vyErr) }, \
+ { "vzErr", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_state_correction_t, vzErr) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a state_correction 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 xErr x position error
+ * @param yErr y position error
+ * @param zErr z position error
+ * @param rollErr roll error (radians)
+ * @param pitchErr pitch error (radians)
+ * @param yawErr yaw error (radians)
+ * @param vxErr x velocity
+ * @param vyErr y velocity
+ * @param vzErr z velocity
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_state_correction_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[36];
+ _mav_put_float(buf, 0, xErr);
+ _mav_put_float(buf, 4, yErr);
+ _mav_put_float(buf, 8, zErr);
+ _mav_put_float(buf, 12, rollErr);
+ _mav_put_float(buf, 16, pitchErr);
+ _mav_put_float(buf, 20, yawErr);
+ _mav_put_float(buf, 24, vxErr);
+ _mav_put_float(buf, 28, vyErr);
+ _mav_put_float(buf, 32, vzErr);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36);
+#else
+ mavlink_state_correction_t packet;
+ packet.xErr = xErr;
+ packet.yErr = yErr;
+ packet.zErr = zErr;
+ packet.rollErr = rollErr;
+ packet.pitchErr = pitchErr;
+ packet.yawErr = yawErr;
+ packet.vxErr = vxErr;
+ packet.vyErr = vyErr;
+ packet.vzErr = vzErr;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION;
+ return mavlink_finalize_message(msg, system_id, component_id, 36, 130);
+}
+
+/**
+ * @brief Pack a state_correction 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param xErr x position error
+ * @param yErr y position error
+ * @param zErr z position error
+ * @param rollErr roll error (radians)
+ * @param pitchErr pitch error (radians)
+ * @param yawErr yaw error (radians)
+ * @param vxErr x velocity
+ * @param vyErr y velocity
+ * @param vzErr z velocity
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_state_correction_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ float xErr,float yErr,float zErr,float rollErr,float pitchErr,float yawErr,float vxErr,float vyErr,float vzErr)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[36];
+ _mav_put_float(buf, 0, xErr);
+ _mav_put_float(buf, 4, yErr);
+ _mav_put_float(buf, 8, zErr);
+ _mav_put_float(buf, 12, rollErr);
+ _mav_put_float(buf, 16, pitchErr);
+ _mav_put_float(buf, 20, yawErr);
+ _mav_put_float(buf, 24, vxErr);
+ _mav_put_float(buf, 28, vyErr);
+ _mav_put_float(buf, 32, vzErr);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36);
+#else
+ mavlink_state_correction_t packet;
+ packet.xErr = xErr;
+ packet.yErr = yErr;
+ packet.zErr = zErr;
+ packet.rollErr = rollErr;
+ packet.pitchErr = pitchErr;
+ packet.yawErr = yawErr;
+ packet.vxErr = vxErr;
+ packet.vyErr = vyErr;
+ packet.vzErr = vzErr;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36, 130);
+}
+
+/**
+ * @brief Encode a state_correction 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 state_correction C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_state_correction_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_state_correction_t* state_correction)
+{
+ return mavlink_msg_state_correction_pack(system_id, component_id, msg, state_correction->xErr, state_correction->yErr, state_correction->zErr, state_correction->rollErr, state_correction->pitchErr, state_correction->yawErr, state_correction->vxErr, state_correction->vyErr, state_correction->vzErr);
+}
+
+/**
+ * @brief Send a state_correction message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param xErr x position error
+ * @param yErr y position error
+ * @param zErr z position error
+ * @param rollErr roll error (radians)
+ * @param pitchErr pitch error (radians)
+ * @param yawErr yaw error (radians)
+ * @param vxErr x velocity
+ * @param vyErr y velocity
+ * @param vzErr z velocity
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_state_correction_send(mavlink_channel_t chan, float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[36];
+ _mav_put_float(buf, 0, xErr);
+ _mav_put_float(buf, 4, yErr);
+ _mav_put_float(buf, 8, zErr);
+ _mav_put_float(buf, 12, rollErr);
+ _mav_put_float(buf, 16, pitchErr);
+ _mav_put_float(buf, 20, yawErr);
+ _mav_put_float(buf, 24, vxErr);
+ _mav_put_float(buf, 28, vyErr);
+ _mav_put_float(buf, 32, vzErr);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATE_CORRECTION, buf, 36, 130);
+#else
+ mavlink_state_correction_t packet;
+ packet.xErr = xErr;
+ packet.yErr = yErr;
+ packet.zErr = zErr;
+ packet.rollErr = rollErr;
+ packet.pitchErr = pitchErr;
+ packet.yawErr = yawErr;
+ packet.vxErr = vxErr;
+ packet.vyErr = vyErr;
+ packet.vzErr = vzErr;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATE_CORRECTION, (const char *)&packet, 36, 130);
+#endif
+}
+
+#endif
+
+// MESSAGE STATE_CORRECTION UNPACKING
+
+
+/**
+ * @brief Get field xErr from state_correction message
+ *
+ * @return x position error
+ */
+static inline float mavlink_msg_state_correction_get_xErr(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field yErr from state_correction message
+ *
+ * @return y position error
+ */
+static inline float mavlink_msg_state_correction_get_yErr(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field zErr from state_correction message
+ *
+ * @return z position error
+ */
+static inline float mavlink_msg_state_correction_get_zErr(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field rollErr from state_correction message
+ *
+ * @return roll error (radians)
+ */
+static inline float mavlink_msg_state_correction_get_rollErr(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field pitchErr from state_correction message
+ *
+ * @return pitch error (radians)
+ */
+static inline float mavlink_msg_state_correction_get_pitchErr(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field yawErr from state_correction message
+ *
+ * @return yaw error (radians)
+ */
+static inline float mavlink_msg_state_correction_get_yawErr(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Get field vxErr from state_correction message
+ *
+ * @return x velocity
+ */
+static inline float mavlink_msg_state_correction_get_vxErr(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 24);
+}
+
+/**
+ * @brief Get field vyErr from state_correction message
+ *
+ * @return y velocity
+ */
+static inline float mavlink_msg_state_correction_get_vyErr(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 28);
+}
+
+/**
+ * @brief Get field vzErr from state_correction message
+ *
+ * @return z velocity
+ */
+static inline float mavlink_msg_state_correction_get_vzErr(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 32);
+}
+
+/**
+ * @brief Decode a state_correction message into a struct
+ *
+ * @param msg The message to decode
+ * @param state_correction C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_state_correction_decode(const mavlink_message_t* msg, mavlink_state_correction_t* state_correction)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ state_correction->xErr = mavlink_msg_state_correction_get_xErr(msg);
+ state_correction->yErr = mavlink_msg_state_correction_get_yErr(msg);
+ state_correction->zErr = mavlink_msg_state_correction_get_zErr(msg);
+ state_correction->rollErr = mavlink_msg_state_correction_get_rollErr(msg);
+ state_correction->pitchErr = mavlink_msg_state_correction_get_pitchErr(msg);
+ state_correction->yawErr = mavlink_msg_state_correction_get_yawErr(msg);
+ state_correction->vxErr = mavlink_msg_state_correction_get_vxErr(msg);
+ state_correction->vyErr = mavlink_msg_state_correction_get_vyErr(msg);
+ state_correction->vzErr = mavlink_msg_state_correction_get_vzErr(msg);
+#else
+ memcpy(state_correction, _MAV_PAYLOAD(msg), 36);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_statustext.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_statustext.h
new file mode 100644
index 0000000..7c65d44
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_statustext.h
@@ -0,0 +1,160 @@
+// MESSAGE STATUSTEXT PACKING
+
+#define MAVLINK_MSG_ID_STATUSTEXT 253
+
+typedef struct __mavlink_statustext_t
+{
+ uint8_t severity; ///< Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
+ char text[50]; ///< Status text message, without null termination character
+} mavlink_statustext_t;
+
+#define MAVLINK_MSG_ID_STATUSTEXT_LEN 51
+#define MAVLINK_MSG_ID_253_LEN 51
+
+#define MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN 50
+
+#define MAVLINK_MESSAGE_INFO_STATUSTEXT { \
+ "STATUSTEXT", \
+ 2, \
+ { { "severity", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_statustext_t, severity) }, \
+ { "text", NULL, MAVLINK_TYPE_CHAR, 50, 1, offsetof(mavlink_statustext_t, text) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a statustext 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 severity Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
+ * @param text Status text message, without null termination character
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t severity, const char *text)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[51];
+ _mav_put_uint8_t(buf, 0, severity);
+ _mav_put_char_array(buf, 1, text, 50);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 51);
+#else
+ mavlink_statustext_t packet;
+ packet.severity = severity;
+ mav_array_memcpy(packet.text, text, sizeof(char)*50);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 51);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
+ return mavlink_finalize_message(msg, system_id, component_id, 51, 83);
+}
+
+/**
+ * @brief Pack a statustext 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param severity Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
+ * @param text Status text message, without null termination character
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t severity,const char *text)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[51];
+ _mav_put_uint8_t(buf, 0, severity);
+ _mav_put_char_array(buf, 1, text, 50);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 51);
+#else
+ mavlink_statustext_t packet;
+ packet.severity = severity;
+ mav_array_memcpy(packet.text, text, sizeof(char)*50);
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 51);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 51, 83);
+}
+
+/**
+ * @brief Encode a statustext 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 statustext C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_statustext_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_statustext_t* statustext)
+{
+ return mavlink_msg_statustext_pack(system_id, component_id, msg, statustext->severity, statustext->text);
+}
+
+/**
+ * @brief Send a statustext message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param severity Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
+ * @param text Status text message, without null termination character
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const char *text)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[51];
+ _mav_put_uint8_t(buf, 0, severity);
+ _mav_put_char_array(buf, 1, text, 50);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, 51, 83);
+#else
+ mavlink_statustext_t packet;
+ packet.severity = severity;
+ mav_array_memcpy(packet.text, text, sizeof(char)*50);
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)&packet, 51, 83);
+#endif
+}
+
+#endif
+
+// MESSAGE STATUSTEXT UNPACKING
+
+
+/**
+ * @brief Get field severity from statustext message
+ *
+ * @return Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
+ */
+static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 0);
+}
+
+/**
+ * @brief Get field text from statustext message
+ *
+ * @return Status text message, without null termination character
+ */
+static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* msg, char *text)
+{
+ return _MAV_RETURN_char_array(msg, text, 50, 1);
+}
+
+/**
+ * @brief Decode a statustext message into a struct
+ *
+ * @param msg The message to decode
+ * @param statustext C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_statustext_decode(const mavlink_message_t* msg, mavlink_statustext_t* statustext)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ statustext->severity = mavlink_msg_statustext_get_severity(msg);
+ mavlink_msg_statustext_get_text(msg, statustext->text);
+#else
+ memcpy(statustext, _MAV_PAYLOAD(msg), 51);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_sys_status.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_sys_status.h
new file mode 100644
index 0000000..ef09a65
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_sys_status.h
@@ -0,0 +1,408 @@
+// MESSAGE SYS_STATUS PACKING
+
+#define MAVLINK_MSG_ID_SYS_STATUS 1
+
+typedef struct __mavlink_sys_status_t
+{
+ uint32_t onboard_control_sensors_present; ///< Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
+ uint32_t onboard_control_sensors_enabled; ///< Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
+ uint32_t onboard_control_sensors_health; ///< Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
+ uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+ uint16_t voltage_battery; ///< Battery voltage, in millivolts (1 = 1 millivolt)
+ int16_t current_battery; ///< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
+ uint16_t drop_rate_comm; ///< Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
+ uint16_t errors_comm; ///< Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
+ uint16_t errors_count1; ///< Autopilot-specific errors
+ uint16_t errors_count2; ///< Autopilot-specific errors
+ uint16_t errors_count3; ///< Autopilot-specific errors
+ uint16_t errors_count4; ///< Autopilot-specific errors
+ int8_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
+} mavlink_sys_status_t;
+
+#define MAVLINK_MSG_ID_SYS_STATUS_LEN 31
+#define MAVLINK_MSG_ID_1_LEN 31
+
+
+
+#define MAVLINK_MESSAGE_INFO_SYS_STATUS { \
+ "SYS_STATUS", \
+ 13, \
+ { { "onboard_control_sensors_present", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_sys_status_t, onboard_control_sensors_present) }, \
+ { "onboard_control_sensors_enabled", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_sys_status_t, onboard_control_sensors_enabled) }, \
+ { "onboard_control_sensors_health", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_sys_status_t, onboard_control_sensors_health) }, \
+ { "load", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_sys_status_t, load) }, \
+ { "voltage_battery", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_sys_status_t, voltage_battery) }, \
+ { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_sys_status_t, current_battery) }, \
+ { "drop_rate_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_sys_status_t, drop_rate_comm) }, \
+ { "errors_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_sys_status_t, errors_comm) }, \
+ { "errors_count1", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_sys_status_t, errors_count1) }, \
+ { "errors_count2", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_sys_status_t, errors_count2) }, \
+ { "errors_count3", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_sys_status_t, errors_count3) }, \
+ { "errors_count4", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_sys_status_t, errors_count4) }, \
+ { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 30, offsetof(mavlink_sys_status_t, battery_remaining) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a sys_status 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 onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
+ * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
+ * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
+ * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+ * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
+ * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
+ * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
+ * @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
+ * @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
+ * @param errors_count1 Autopilot-specific errors
+ * @param errors_count2 Autopilot-specific errors
+ * @param errors_count3 Autopilot-specific errors
+ * @param errors_count4 Autopilot-specific errors
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[31];
+ _mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
+ _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
+ _mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
+ _mav_put_uint16_t(buf, 12, load);
+ _mav_put_uint16_t(buf, 14, voltage_battery);
+ _mav_put_int16_t(buf, 16, current_battery);
+ _mav_put_uint16_t(buf, 18, drop_rate_comm);
+ _mav_put_uint16_t(buf, 20, errors_comm);
+ _mav_put_uint16_t(buf, 22, errors_count1);
+ _mav_put_uint16_t(buf, 24, errors_count2);
+ _mav_put_uint16_t(buf, 26, errors_count3);
+ _mav_put_uint16_t(buf, 28, errors_count4);
+ _mav_put_int8_t(buf, 30, battery_remaining);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 31);
+#else
+ mavlink_sys_status_t packet;
+ packet.onboard_control_sensors_present = onboard_control_sensors_present;
+ packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
+ packet.onboard_control_sensors_health = onboard_control_sensors_health;
+ packet.load = load;
+ packet.voltage_battery = voltage_battery;
+ packet.current_battery = current_battery;
+ packet.drop_rate_comm = drop_rate_comm;
+ packet.errors_comm = errors_comm;
+ packet.errors_count1 = errors_count1;
+ packet.errors_count2 = errors_count2;
+ packet.errors_count3 = errors_count3;
+ packet.errors_count4 = errors_count4;
+ packet.battery_remaining = battery_remaining;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 31);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
+ return mavlink_finalize_message(msg, system_id, component_id, 31, 124);
+}
+
+/**
+ * @brief Pack a sys_status 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
+ * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
+ * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
+ * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+ * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
+ * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
+ * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
+ * @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
+ * @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
+ * @param errors_count1 Autopilot-specific errors
+ * @param errors_count2 Autopilot-specific errors
+ * @param errors_count3 Autopilot-specific errors
+ * @param errors_count4 Autopilot-specific errors
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint32_t onboard_control_sensors_present,uint32_t onboard_control_sensors_enabled,uint32_t onboard_control_sensors_health,uint16_t load,uint16_t voltage_battery,int16_t current_battery,int8_t battery_remaining,uint16_t drop_rate_comm,uint16_t errors_comm,uint16_t errors_count1,uint16_t errors_count2,uint16_t errors_count3,uint16_t errors_count4)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[31];
+ _mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
+ _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
+ _mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
+ _mav_put_uint16_t(buf, 12, load);
+ _mav_put_uint16_t(buf, 14, voltage_battery);
+ _mav_put_int16_t(buf, 16, current_battery);
+ _mav_put_uint16_t(buf, 18, drop_rate_comm);
+ _mav_put_uint16_t(buf, 20, errors_comm);
+ _mav_put_uint16_t(buf, 22, errors_count1);
+ _mav_put_uint16_t(buf, 24, errors_count2);
+ _mav_put_uint16_t(buf, 26, errors_count3);
+ _mav_put_uint16_t(buf, 28, errors_count4);
+ _mav_put_int8_t(buf, 30, battery_remaining);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 31);
+#else
+ mavlink_sys_status_t packet;
+ packet.onboard_control_sensors_present = onboard_control_sensors_present;
+ packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
+ packet.onboard_control_sensors_health = onboard_control_sensors_health;
+ packet.load = load;
+ packet.voltage_battery = voltage_battery;
+ packet.current_battery = current_battery;
+ packet.drop_rate_comm = drop_rate_comm;
+ packet.errors_comm = errors_comm;
+ packet.errors_count1 = errors_count1;
+ packet.errors_count2 = errors_count2;
+ packet.errors_count3 = errors_count3;
+ packet.errors_count4 = errors_count4;
+ packet.battery_remaining = battery_remaining;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 31);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 31, 124);
+}
+
+/**
+ * @brief Encode a sys_status 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 sys_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_sys_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sys_status_t* sys_status)
+{
+ return mavlink_msg_sys_status_pack(system_id, component_id, msg, sys_status->onboard_control_sensors_present, sys_status->onboard_control_sensors_enabled, sys_status->onboard_control_sensors_health, sys_status->load, sys_status->voltage_battery, sys_status->current_battery, sys_status->battery_remaining, sys_status->drop_rate_comm, sys_status->errors_comm, sys_status->errors_count1, sys_status->errors_count2, sys_status->errors_count3, sys_status->errors_count4);
+}
+
+/**
+ * @brief Send a sys_status message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
+ * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
+ * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
+ * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+ * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
+ * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
+ * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
+ * @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
+ * @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
+ * @param errors_count1 Autopilot-specific errors
+ * @param errors_count2 Autopilot-specific errors
+ * @param errors_count3 Autopilot-specific errors
+ * @param errors_count4 Autopilot-specific errors
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[31];
+ _mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
+ _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
+ _mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
+ _mav_put_uint16_t(buf, 12, load);
+ _mav_put_uint16_t(buf, 14, voltage_battery);
+ _mav_put_int16_t(buf, 16, current_battery);
+ _mav_put_uint16_t(buf, 18, drop_rate_comm);
+ _mav_put_uint16_t(buf, 20, errors_comm);
+ _mav_put_uint16_t(buf, 22, errors_count1);
+ _mav_put_uint16_t(buf, 24, errors_count2);
+ _mav_put_uint16_t(buf, 26, errors_count3);
+ _mav_put_uint16_t(buf, 28, errors_count4);
+ _mav_put_int8_t(buf, 30, battery_remaining);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, 31, 124);
+#else
+ mavlink_sys_status_t packet;
+ packet.onboard_control_sensors_present = onboard_control_sensors_present;
+ packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
+ packet.onboard_control_sensors_health = onboard_control_sensors_health;
+ packet.load = load;
+ packet.voltage_battery = voltage_battery;
+ packet.current_battery = current_battery;
+ packet.drop_rate_comm = drop_rate_comm;
+ packet.errors_comm = errors_comm;
+ packet.errors_count1 = errors_count1;
+ packet.errors_count2 = errors_count2;
+ packet.errors_count3 = errors_count3;
+ packet.errors_count4 = errors_count4;
+ packet.battery_remaining = battery_remaining;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)&packet, 31, 124);
+#endif
+}
+
+#endif
+
+// MESSAGE SYS_STATUS UNPACKING
+
+
+/**
+ * @brief Get field onboard_control_sensors_present from sys_status message
+ *
+ * @return Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
+ */
+static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_present(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 0);
+}
+
+/**
+ * @brief Get field onboard_control_sensors_enabled from sys_status message
+ *
+ * @return Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
+ */
+static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_enabled(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 4);
+}
+
+/**
+ * @brief Get field onboard_control_sensors_health from sys_status message
+ *
+ * @return Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
+ */
+static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_health(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 8);
+}
+
+/**
+ * @brief Get field load from sys_status message
+ *
+ * @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+ */
+static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 12);
+}
+
+/**
+ * @brief Get field voltage_battery from sys_status message
+ *
+ * @return Battery voltage, in millivolts (1 = 1 millivolt)
+ */
+static inline uint16_t mavlink_msg_sys_status_get_voltage_battery(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 14);
+}
+
+/**
+ * @brief Get field current_battery from sys_status message
+ *
+ * @return Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
+ */
+static inline int16_t mavlink_msg_sys_status_get_current_battery(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 16);
+}
+
+/**
+ * @brief Get field battery_remaining from sys_status message
+ *
+ * @return Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
+ */
+static inline int8_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int8_t(msg, 30);
+}
+
+/**
+ * @brief Get field drop_rate_comm from sys_status message
+ *
+ * @return Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
+ */
+static inline uint16_t mavlink_msg_sys_status_get_drop_rate_comm(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 18);
+}
+
+/**
+ * @brief Get field errors_comm from sys_status message
+ *
+ * @return Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
+ */
+static inline uint16_t mavlink_msg_sys_status_get_errors_comm(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 20);
+}
+
+/**
+ * @brief Get field errors_count1 from sys_status message
+ *
+ * @return Autopilot-specific errors
+ */
+static inline uint16_t mavlink_msg_sys_status_get_errors_count1(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 22);
+}
+
+/**
+ * @brief Get field errors_count2 from sys_status message
+ *
+ * @return Autopilot-specific errors
+ */
+static inline uint16_t mavlink_msg_sys_status_get_errors_count2(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 24);
+}
+
+/**
+ * @brief Get field errors_count3 from sys_status message
+ *
+ * @return Autopilot-specific errors
+ */
+static inline uint16_t mavlink_msg_sys_status_get_errors_count3(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 26);
+}
+
+/**
+ * @brief Get field errors_count4 from sys_status message
+ *
+ * @return Autopilot-specific errors
+ */
+static inline uint16_t mavlink_msg_sys_status_get_errors_count4(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 28);
+}
+
+/**
+ * @brief Decode a sys_status message into a struct
+ *
+ * @param msg The message to decode
+ * @param sys_status C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ sys_status->onboard_control_sensors_present = mavlink_msg_sys_status_get_onboard_control_sensors_present(msg);
+ sys_status->onboard_control_sensors_enabled = mavlink_msg_sys_status_get_onboard_control_sensors_enabled(msg);
+ sys_status->onboard_control_sensors_health = mavlink_msg_sys_status_get_onboard_control_sensors_health(msg);
+ sys_status->load = mavlink_msg_sys_status_get_load(msg);
+ sys_status->voltage_battery = mavlink_msg_sys_status_get_voltage_battery(msg);
+ sys_status->current_battery = mavlink_msg_sys_status_get_current_battery(msg);
+ sys_status->drop_rate_comm = mavlink_msg_sys_status_get_drop_rate_comm(msg);
+ sys_status->errors_comm = mavlink_msg_sys_status_get_errors_comm(msg);
+ sys_status->errors_count1 = mavlink_msg_sys_status_get_errors_count1(msg);
+ sys_status->errors_count2 = mavlink_msg_sys_status_get_errors_count2(msg);
+ sys_status->errors_count3 = mavlink_msg_sys_status_get_errors_count3(msg);
+ sys_status->errors_count4 = mavlink_msg_sys_status_get_errors_count4(msg);
+ sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg);
+#else
+ memcpy(sys_status, _MAV_PAYLOAD(msg), 31);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_system_time.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_system_time.h
new file mode 100644
index 0000000..c24808d
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_system_time.h
@@ -0,0 +1,166 @@
+// MESSAGE SYSTEM_TIME PACKING
+
+#define MAVLINK_MSG_ID_SYSTEM_TIME 2
+
+typedef struct __mavlink_system_time_t
+{
+ uint64_t time_unix_usec; ///< Timestamp of the master clock in microseconds since UNIX epoch.
+ uint32_t time_boot_ms; ///< Timestamp of the component clock since boot time in milliseconds.
+} mavlink_system_time_t;
+
+#define MAVLINK_MSG_ID_SYSTEM_TIME_LEN 12
+#define MAVLINK_MSG_ID_2_LEN 12
+
+
+
+#define MAVLINK_MESSAGE_INFO_SYSTEM_TIME { \
+ "SYSTEM_TIME", \
+ 2, \
+ { { "time_unix_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_system_time_t, time_unix_usec) }, \
+ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_system_time_t, time_boot_ms) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a system_time 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 time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch.
+ * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint64_t time_unix_usec, uint32_t time_boot_ms)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[12];
+ _mav_put_uint64_t(buf, 0, time_unix_usec);
+ _mav_put_uint32_t(buf, 8, time_boot_ms);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
+#else
+ mavlink_system_time_t packet;
+ packet.time_unix_usec = time_unix_usec;
+ packet.time_boot_ms = time_boot_ms;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
+ return mavlink_finalize_message(msg, system_id, component_id, 12, 137);
+}
+
+/**
+ * @brief Pack a system_time 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch.
+ * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint64_t time_unix_usec,uint32_t time_boot_ms)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[12];
+ _mav_put_uint64_t(buf, 0, time_unix_usec);
+ _mav_put_uint32_t(buf, 8, time_boot_ms);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
+#else
+ mavlink_system_time_t packet;
+ packet.time_unix_usec = time_unix_usec;
+ packet.time_boot_ms = time_boot_ms;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 137);
+}
+
+/**
+ * @brief Encode a system_time 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 system_time C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_system_time_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_system_time_t* system_time)
+{
+ return mavlink_msg_system_time_pack(system_id, component_id, msg, system_time->time_unix_usec, system_time->time_boot_ms);
+}
+
+/**
+ * @brief Send a system_time message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch.
+ * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds.
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_unix_usec, uint32_t time_boot_ms)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[12];
+ _mav_put_uint64_t(buf, 0, time_unix_usec);
+ _mav_put_uint32_t(buf, 8, time_boot_ms);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, 12, 137);
+#else
+ mavlink_system_time_t packet;
+ packet.time_unix_usec = time_unix_usec;
+ packet.time_boot_ms = time_boot_ms;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)&packet, 12, 137);
+#endif
+}
+
+#endif
+
+// MESSAGE SYSTEM_TIME UNPACKING
+
+
+/**
+ * @brief Get field time_unix_usec from system_time message
+ *
+ * @return Timestamp of the master clock in microseconds since UNIX epoch.
+ */
+static inline uint64_t mavlink_msg_system_time_get_time_unix_usec(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint64_t(msg, 0);
+}
+
+/**
+ * @brief Get field time_boot_ms from system_time message
+ *
+ * @return Timestamp of the component clock since boot time in milliseconds.
+ */
+static inline uint32_t mavlink_msg_system_time_get_time_boot_ms(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint32_t(msg, 8);
+}
+
+/**
+ * @brief Decode a system_time message into a struct
+ *
+ * @param msg The message to decode
+ * @param system_time C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_system_time_decode(const mavlink_message_t* msg, mavlink_system_time_t* system_time)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ system_time->time_unix_usec = mavlink_msg_system_time_get_time_unix_usec(msg);
+ system_time->time_boot_ms = mavlink_msg_system_time_get_time_boot_ms(msg);
+#else
+ memcpy(system_time, _MAV_PAYLOAD(msg), 12);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vfr_hud.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vfr_hud.h
new file mode 100644
index 0000000..d7c1afe
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vfr_hud.h
@@ -0,0 +1,254 @@
+// MESSAGE VFR_HUD PACKING
+
+#define MAVLINK_MSG_ID_VFR_HUD 74
+
+typedef struct __mavlink_vfr_hud_t
+{
+ float airspeed; ///< Current airspeed in m/s
+ float groundspeed; ///< Current ground speed in m/s
+ float alt; ///< Current altitude (MSL), in meters
+ float climb; ///< Current climb rate in meters/second
+ int16_t heading; ///< Current heading in degrees, in compass units (0..360, 0=north)
+ uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100
+} mavlink_vfr_hud_t;
+
+#define MAVLINK_MSG_ID_VFR_HUD_LEN 20
+#define MAVLINK_MSG_ID_74_LEN 20
+
+
+
+#define MAVLINK_MESSAGE_INFO_VFR_HUD { \
+ "VFR_HUD", \
+ 6, \
+ { { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_vfr_hud_t, airspeed) }, \
+ { "groundspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_vfr_hud_t, groundspeed) }, \
+ { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vfr_hud_t, alt) }, \
+ { "climb", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vfr_hud_t, climb) }, \
+ { "heading", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_vfr_hud_t, heading) }, \
+ { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_vfr_hud_t, throttle) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a vfr_hud 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 airspeed Current airspeed in m/s
+ * @param groundspeed Current ground speed in m/s
+ * @param heading Current heading in degrees, in compass units (0..360, 0=north)
+ * @param throttle Current throttle setting in integer percent, 0 to 100
+ * @param alt Current altitude (MSL), in meters
+ * @param climb Current climb rate in meters/second
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[20];
+ _mav_put_float(buf, 0, airspeed);
+ _mav_put_float(buf, 4, groundspeed);
+ _mav_put_float(buf, 8, alt);
+ _mav_put_float(buf, 12, climb);
+ _mav_put_int16_t(buf, 16, heading);
+ _mav_put_uint16_t(buf, 18, throttle);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
+#else
+ mavlink_vfr_hud_t packet;
+ packet.airspeed = airspeed;
+ packet.groundspeed = groundspeed;
+ packet.alt = alt;
+ packet.climb = climb;
+ packet.heading = heading;
+ packet.throttle = throttle;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
+ return mavlink_finalize_message(msg, system_id, component_id, 20, 20);
+}
+
+/**
+ * @brief Pack a vfr_hud 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param airspeed Current airspeed in m/s
+ * @param groundspeed Current ground speed in m/s
+ * @param heading Current heading in degrees, in compass units (0..360, 0=north)
+ * @param throttle Current throttle setting in integer percent, 0 to 100
+ * @param alt Current altitude (MSL), in meters
+ * @param climb Current climb rate in meters/second
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ float airspeed,float groundspeed,int16_t heading,uint16_t throttle,float alt,float climb)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[20];
+ _mav_put_float(buf, 0, airspeed);
+ _mav_put_float(buf, 4, groundspeed);
+ _mav_put_float(buf, 8, alt);
+ _mav_put_float(buf, 12, climb);
+ _mav_put_int16_t(buf, 16, heading);
+ _mav_put_uint16_t(buf, 18, throttle);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
+#else
+ mavlink_vfr_hud_t packet;
+ packet.airspeed = airspeed;
+ packet.groundspeed = groundspeed;
+ packet.alt = alt;
+ packet.climb = climb;
+ packet.heading = heading;
+ packet.throttle = throttle;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 20);
+}
+
+/**
+ * @brief Encode a vfr_hud 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 vfr_hud C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_vfr_hud_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud)
+{
+ return mavlink_msg_vfr_hud_pack(system_id, component_id, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb);
+}
+
+/**
+ * @brief Send a vfr_hud message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param airspeed Current airspeed in m/s
+ * @param groundspeed Current ground speed in m/s
+ * @param heading Current heading in degrees, in compass units (0..360, 0=north)
+ * @param throttle Current throttle setting in integer percent, 0 to 100
+ * @param alt Current altitude (MSL), in meters
+ * @param climb Current climb rate in meters/second
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[20];
+ _mav_put_float(buf, 0, airspeed);
+ _mav_put_float(buf, 4, groundspeed);
+ _mav_put_float(buf, 8, alt);
+ _mav_put_float(buf, 12, climb);
+ _mav_put_int16_t(buf, 16, heading);
+ _mav_put_uint16_t(buf, 18, throttle);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, 20, 20);
+#else
+ mavlink_vfr_hud_t packet;
+ packet.airspeed = airspeed;
+ packet.groundspeed = groundspeed;
+ packet.alt = alt;
+ packet.climb = climb;
+ packet.heading = heading;
+ packet.throttle = throttle;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)&packet, 20, 20);
+#endif
+}
+
+#endif
+
+// MESSAGE VFR_HUD UNPACKING
+
+
+/**
+ * @brief Get field airspeed from vfr_hud message
+ *
+ * @return Current airspeed in m/s
+ */
+static inline float mavlink_msg_vfr_hud_get_airspeed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field groundspeed from vfr_hud message
+ *
+ * @return Current ground speed in m/s
+ */
+static inline float mavlink_msg_vfr_hud_get_groundspeed(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field heading from vfr_hud message
+ *
+ * @return Current heading in degrees, in compass units (0..360, 0=north)
+ */
+static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int16_t(msg, 16);
+}
+
+/**
+ * @brief Get field throttle from vfr_hud message
+ *
+ * @return Current throttle setting in integer percent, 0 to 100
+ */
+static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint16_t(msg, 18);
+}
+
+/**
+ * @brief Get field alt from vfr_hud message
+ *
+ * @return Current altitude (MSL), in meters
+ */
+static inline float mavlink_msg_vfr_hud_get_alt(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field climb from vfr_hud message
+ *
+ * @return Current climb rate in meters/second
+ */
+static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Decode a vfr_hud message into a struct
+ *
+ * @param msg The message to decode
+ * @param vfr_hud C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_vfr_hud_decode(const mavlink_message_t* msg, mavlink_vfr_hud_t* vfr_hud)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ vfr_hud->airspeed = mavlink_msg_vfr_hud_get_airspeed(msg);
+ vfr_hud->groundspeed = mavlink_msg_vfr_hud_get_groundspeed(msg);
+ vfr_hud->alt = mavlink_msg_vfr_hud_get_alt(msg);
+ vfr_hud->climb = mavlink_msg_vfr_hud_get_climb(msg);
+ vfr_hud->heading = mavlink_msg_vfr_hud_get_heading(msg);
+ vfr_hud->throttle = mavlink_msg_vfr_hud_get_throttle(msg);
+#else
+ memcpy(vfr_hud, _MAV_PAYLOAD(msg), 20);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h
new file mode 100644
index 0000000..ecb5656
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h
@@ -0,0 +1,276 @@
+// MESSAGE VICON_POSITION_ESTIMATE PACKING
+
+#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE 104
+
+typedef struct __mavlink_vicon_position_estimate_t
+{
+ uint64_t usec; ///< Timestamp (milliseconds)
+ float x; ///< Global X position
+ float y; ///< Global Y position
+ float z; ///< Global Z position
+ float roll; ///< Roll angle in rad
+ float pitch; ///< Pitch angle in rad
+ float yaw; ///< Yaw angle in rad
+} mavlink_vicon_position_estimate_t;
+
+#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN 32
+#define MAVLINK_MSG_ID_104_LEN 32
+
+
+
+#define MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE { \
+ "VICON_POSITION_ESTIMATE", \
+ 7, \
+ { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vicon_position_estimate_t, usec) }, \
+ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vicon_position_estimate_t, x) }, \
+ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vicon_position_estimate_t, y) }, \
+ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vicon_position_estimate_t, z) }, \
+ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vicon_position_estimate_t, roll) }, \
+ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vicon_position_estimate_t, pitch) }, \
+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vicon_position_estimate_t, yaw) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a vicon_position_estimate 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 usec Timestamp (milliseconds)
+ * @param x Global X position
+ * @param y Global Y position
+ * @param z Global Z position
+ * @param roll Roll angle in rad
+ * @param pitch Pitch angle in rad
+ * @param yaw Yaw angle in rad
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[32];
+ _mav_put_uint64_t(buf, 0, usec);
+ _mav_put_float(buf, 8, x);
+ _mav_put_float(buf, 12, y);
+ _mav_put_float(buf, 16, z);
+ _mav_put_float(buf, 20, roll);
+ _mav_put_float(buf, 24, pitch);
+ _mav_put_float(buf, 28, yaw);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
+#else
+ mavlink_vicon_position_estimate_t packet;
+ packet.usec = usec;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
+ return mavlink_finalize_message(msg, system_id, component_id, 32, 56);
+}
+
+/**
+ * @brief Pack a vicon_position_estimate 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X position
+ * @param y Global Y position
+ * @param z Global Z position
+ * @param roll Roll angle in rad
+ * @param pitch Pitch angle in rad
+ * @param yaw Yaw angle in rad
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[32];
+ _mav_put_uint64_t(buf, 0, usec);
+ _mav_put_float(buf, 8, x);
+ _mav_put_float(buf, 12, y);
+ _mav_put_float(buf, 16, z);
+ _mav_put_float(buf, 20, roll);
+ _mav_put_float(buf, 24, pitch);
+ _mav_put_float(buf, 28, yaw);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
+#else
+ mavlink_vicon_position_estimate_t packet;
+ packet.usec = usec;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 56);
+}
+
+/**
+ * @brief Encode a vicon_position_estimate 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 vicon_position_estimate C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_vicon_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vicon_position_estimate_t* vicon_position_estimate)
+{
+ return mavlink_msg_vicon_position_estimate_pack(system_id, component_id, msg, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw);
+}
+
+/**
+ * @brief Send a vicon_position_estimate message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X position
+ * @param y Global Y position
+ * @param z Global Z position
+ * @param roll Roll angle in rad
+ * @param pitch Pitch angle in rad
+ * @param yaw Yaw angle in rad
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[32];
+ _mav_put_uint64_t(buf, 0, usec);
+ _mav_put_float(buf, 8, x);
+ _mav_put_float(buf, 12, y);
+ _mav_put_float(buf, 16, z);
+ _mav_put_float(buf, 20, roll);
+ _mav_put_float(buf, 24, pitch);
+ _mav_put_float(buf, 28, yaw);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, buf, 32, 56);
+#else
+ mavlink_vicon_position_estimate_t packet;
+ packet.usec = usec;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)&packet, 32, 56);
+#endif
+}
+
+#endif
+
+// MESSAGE VICON_POSITION_ESTIMATE UNPACKING
+
+
+/**
+ * @brief Get field usec from vicon_position_estimate message
+ *
+ * @return Timestamp (milliseconds)
+ */
+static inline uint64_t mavlink_msg_vicon_position_estimate_get_usec(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint64_t(msg, 0);
+}
+
+/**
+ * @brief Get field x from vicon_position_estimate message
+ *
+ * @return Global X position
+ */
+static inline float mavlink_msg_vicon_position_estimate_get_x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field y from vicon_position_estimate message
+ *
+ * @return Global Y position
+ */
+static inline float mavlink_msg_vicon_position_estimate_get_y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field z from vicon_position_estimate message
+ *
+ * @return Global Z position
+ */
+static inline float mavlink_msg_vicon_position_estimate_get_z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field roll from vicon_position_estimate message
+ *
+ * @return Roll angle in rad
+ */
+static inline float mavlink_msg_vicon_position_estimate_get_roll(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Get field pitch from vicon_position_estimate message
+ *
+ * @return Pitch angle in rad
+ */
+static inline float mavlink_msg_vicon_position_estimate_get_pitch(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 24);
+}
+
+/**
+ * @brief Get field yaw from vicon_position_estimate message
+ *
+ * @return Yaw angle in rad
+ */
+static inline float mavlink_msg_vicon_position_estimate_get_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 28);
+}
+
+/**
+ * @brief Decode a vicon_position_estimate message into a struct
+ *
+ * @param msg The message to decode
+ * @param vicon_position_estimate C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_vicon_position_estimate_decode(const mavlink_message_t* msg, mavlink_vicon_position_estimate_t* vicon_position_estimate)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ vicon_position_estimate->usec = mavlink_msg_vicon_position_estimate_get_usec(msg);
+ vicon_position_estimate->x = mavlink_msg_vicon_position_estimate_get_x(msg);
+ vicon_position_estimate->y = mavlink_msg_vicon_position_estimate_get_y(msg);
+ vicon_position_estimate->z = mavlink_msg_vicon_position_estimate_get_z(msg);
+ vicon_position_estimate->roll = mavlink_msg_vicon_position_estimate_get_roll(msg);
+ vicon_position_estimate->pitch = mavlink_msg_vicon_position_estimate_get_pitch(msg);
+ vicon_position_estimate->yaw = mavlink_msg_vicon_position_estimate_get_yaw(msg);
+#else
+ memcpy(vicon_position_estimate, _MAV_PAYLOAD(msg), 32);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h
new file mode 100644
index 0000000..041caf7
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h
@@ -0,0 +1,276 @@
+// MESSAGE VISION_POSITION_ESTIMATE PACKING
+
+#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE 102
+
+typedef struct __mavlink_vision_position_estimate_t
+{
+ uint64_t usec; ///< Timestamp (milliseconds)
+ float x; ///< Global X position
+ float y; ///< Global Y position
+ float z; ///< Global Z position
+ float roll; ///< Roll angle in rad
+ float pitch; ///< Pitch angle in rad
+ float yaw; ///< Yaw angle in rad
+} mavlink_vision_position_estimate_t;
+
+#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN 32
+#define MAVLINK_MSG_ID_102_LEN 32
+
+
+
+#define MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE { \
+ "VISION_POSITION_ESTIMATE", \
+ 7, \
+ { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_position_estimate_t, usec) }, \
+ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_position_estimate_t, x) }, \
+ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_position_estimate_t, y) }, \
+ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_position_estimate_t, z) }, \
+ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vision_position_estimate_t, roll) }, \
+ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vision_position_estimate_t, pitch) }, \
+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vision_position_estimate_t, yaw) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a vision_position_estimate 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 usec Timestamp (milliseconds)
+ * @param x Global X position
+ * @param y Global Y position
+ * @param z Global Z position
+ * @param roll Roll angle in rad
+ * @param pitch Pitch angle in rad
+ * @param yaw Yaw angle in rad
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[32];
+ _mav_put_uint64_t(buf, 0, usec);
+ _mav_put_float(buf, 8, x);
+ _mav_put_float(buf, 12, y);
+ _mav_put_float(buf, 16, z);
+ _mav_put_float(buf, 20, roll);
+ _mav_put_float(buf, 24, pitch);
+ _mav_put_float(buf, 28, yaw);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
+#else
+ mavlink_vision_position_estimate_t packet;
+ packet.usec = usec;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE;
+ return mavlink_finalize_message(msg, system_id, component_id, 32, 158);
+}
+
+/**
+ * @brief Pack a vision_position_estimate 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X position
+ * @param y Global Y position
+ * @param z Global Z position
+ * @param roll Roll angle in rad
+ * @param pitch Pitch angle in rad
+ * @param yaw Yaw angle in rad
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[32];
+ _mav_put_uint64_t(buf, 0, usec);
+ _mav_put_float(buf, 8, x);
+ _mav_put_float(buf, 12, y);
+ _mav_put_float(buf, 16, z);
+ _mav_put_float(buf, 20, roll);
+ _mav_put_float(buf, 24, pitch);
+ _mav_put_float(buf, 28, yaw);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
+#else
+ mavlink_vision_position_estimate_t packet;
+ packet.usec = usec;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 158);
+}
+
+/**
+ * @brief Encode a vision_position_estimate 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 vision_position_estimate C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_vision_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_position_estimate_t* vision_position_estimate)
+{
+ return mavlink_msg_vision_position_estimate_pack(system_id, component_id, msg, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw);
+}
+
+/**
+ * @brief Send a vision_position_estimate message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X position
+ * @param y Global Y position
+ * @param z Global Z position
+ * @param roll Roll angle in rad
+ * @param pitch Pitch angle in rad
+ * @param yaw Yaw angle in rad
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[32];
+ _mav_put_uint64_t(buf, 0, usec);
+ _mav_put_float(buf, 8, x);
+ _mav_put_float(buf, 12, y);
+ _mav_put_float(buf, 16, z);
+ _mav_put_float(buf, 20, roll);
+ _mav_put_float(buf, 24, pitch);
+ _mav_put_float(buf, 28, yaw);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, buf, 32, 158);
+#else
+ mavlink_vision_position_estimate_t packet;
+ packet.usec = usec;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)&packet, 32, 158);
+#endif
+}
+
+#endif
+
+// MESSAGE VISION_POSITION_ESTIMATE UNPACKING
+
+
+/**
+ * @brief Get field usec from vision_position_estimate message
+ *
+ * @return Timestamp (milliseconds)
+ */
+static inline uint64_t mavlink_msg_vision_position_estimate_get_usec(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint64_t(msg, 0);
+}
+
+/**
+ * @brief Get field x from vision_position_estimate message
+ *
+ * @return Global X position
+ */
+static inline float mavlink_msg_vision_position_estimate_get_x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field y from vision_position_estimate message
+ *
+ * @return Global Y position
+ */
+static inline float mavlink_msg_vision_position_estimate_get_y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field z from vision_position_estimate message
+ *
+ * @return Global Z position
+ */
+static inline float mavlink_msg_vision_position_estimate_get_z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Get field roll from vision_position_estimate message
+ *
+ * @return Roll angle in rad
+ */
+static inline float mavlink_msg_vision_position_estimate_get_roll(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 20);
+}
+
+/**
+ * @brief Get field pitch from vision_position_estimate message
+ *
+ * @return Pitch angle in rad
+ */
+static inline float mavlink_msg_vision_position_estimate_get_pitch(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 24);
+}
+
+/**
+ * @brief Get field yaw from vision_position_estimate message
+ *
+ * @return Yaw angle in rad
+ */
+static inline float mavlink_msg_vision_position_estimate_get_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 28);
+}
+
+/**
+ * @brief Decode a vision_position_estimate message into a struct
+ *
+ * @param msg The message to decode
+ * @param vision_position_estimate C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_vision_position_estimate_t* vision_position_estimate)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ vision_position_estimate->usec = mavlink_msg_vision_position_estimate_get_usec(msg);
+ vision_position_estimate->x = mavlink_msg_vision_position_estimate_get_x(msg);
+ vision_position_estimate->y = mavlink_msg_vision_position_estimate_get_y(msg);
+ vision_position_estimate->z = mavlink_msg_vision_position_estimate_get_z(msg);
+ vision_position_estimate->roll = mavlink_msg_vision_position_estimate_get_roll(msg);
+ vision_position_estimate->pitch = mavlink_msg_vision_position_estimate_get_pitch(msg);
+ vision_position_estimate->yaw = mavlink_msg_vision_position_estimate_get_yaw(msg);
+#else
+ memcpy(vision_position_estimate, _MAV_PAYLOAD(msg), 32);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h
new file mode 100644
index 0000000..3e30b92
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h
@@ -0,0 +1,210 @@
+// MESSAGE VISION_SPEED_ESTIMATE PACKING
+
+#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 103
+
+typedef struct __mavlink_vision_speed_estimate_t
+{
+ uint64_t usec; ///< Timestamp (milliseconds)
+ float x; ///< Global X speed
+ float y; ///< Global Y speed
+ float z; ///< Global Z speed
+} mavlink_vision_speed_estimate_t;
+
+#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN 20
+#define MAVLINK_MSG_ID_103_LEN 20
+
+
+
+#define MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE { \
+ "VISION_SPEED_ESTIMATE", \
+ 4, \
+ { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_speed_estimate_t, usec) }, \
+ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_speed_estimate_t, x) }, \
+ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_speed_estimate_t, y) }, \
+ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_speed_estimate_t, z) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a vision_speed_estimate 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 usec Timestamp (milliseconds)
+ * @param x Global X speed
+ * @param y Global Y speed
+ * @param z Global Z speed
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint64_t usec, float x, float y, float z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[20];
+ _mav_put_uint64_t(buf, 0, usec);
+ _mav_put_float(buf, 8, x);
+ _mav_put_float(buf, 12, y);
+ _mav_put_float(buf, 16, z);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
+#else
+ mavlink_vision_speed_estimate_t packet;
+ packet.usec = usec;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
+ return mavlink_finalize_message(msg, system_id, component_id, 20, 208);
+}
+
+/**
+ * @brief Pack a vision_speed_estimate 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X speed
+ * @param y Global Y speed
+ * @param z Global Z speed
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint64_t usec,float x,float y,float z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[20];
+ _mav_put_uint64_t(buf, 0, usec);
+ _mav_put_float(buf, 8, x);
+ _mav_put_float(buf, 12, y);
+ _mav_put_float(buf, 16, z);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
+#else
+ mavlink_vision_speed_estimate_t packet;
+ packet.usec = usec;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 208);
+}
+
+/**
+ * @brief Encode a vision_speed_estimate 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 vision_speed_estimate C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_vision_speed_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
+{
+ return mavlink_msg_vision_speed_estimate_pack(system_id, component_id, msg, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z);
+}
+
+/**
+ * @brief Send a vision_speed_estimate message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X speed
+ * @param y Global Y speed
+ * @param z Global Z speed
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[20];
+ _mav_put_uint64_t(buf, 0, usec);
+ _mav_put_float(buf, 8, x);
+ _mav_put_float(buf, 12, y);
+ _mav_put_float(buf, 16, z);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, buf, 20, 208);
+#else
+ mavlink_vision_speed_estimate_t packet;
+ packet.usec = usec;
+ packet.x = x;
+ packet.y = y;
+ packet.z = z;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)&packet, 20, 208);
+#endif
+}
+
+#endif
+
+// MESSAGE VISION_SPEED_ESTIMATE UNPACKING
+
+
+/**
+ * @brief Get field usec from vision_speed_estimate message
+ *
+ * @return Timestamp (milliseconds)
+ */
+static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint64_t(msg, 0);
+}
+
+/**
+ * @brief Get field x from vision_speed_estimate message
+ *
+ * @return Global X speed
+ */
+static inline float mavlink_msg_vision_speed_estimate_get_x(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field y from vision_speed_estimate message
+ *
+ * @return Global Y speed
+ */
+static inline float mavlink_msg_vision_speed_estimate_get_y(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field z from vision_speed_estimate message
+ *
+ * @return Global Z speed
+ */
+static inline float mavlink_msg_vision_speed_estimate_get_z(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 16);
+}
+
+/**
+ * @brief Decode a vision_speed_estimate message into a struct
+ *
+ * @param msg The message to decode
+ * @param vision_speed_estimate C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_vision_speed_estimate_decode(const mavlink_message_t* msg, mavlink_vision_speed_estimate_t* vision_speed_estimate)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ vision_speed_estimate->usec = mavlink_msg_vision_speed_estimate_get_usec(msg);
+ vision_speed_estimate->x = mavlink_msg_vision_speed_estimate_get_x(msg);
+ vision_speed_estimate->y = mavlink_msg_vision_speed_estimate_get_y(msg);
+ vision_speed_estimate->z = mavlink_msg_vision_speed_estimate_get_z(msg);
+#else
+ memcpy(vision_speed_estimate, _MAV_PAYLOAD(msg), 20);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/testsuite.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/testsuite.h
new file mode 100644
index 0000000..b28ed04
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/testsuite.h
@@ -0,0 +1,4086 @@
+/** @file
+ * @brief MAVLink comm protocol testsuite generated from common.xml
+ * @see http://qgroundcontrol.org/mavlink/
+ */
+#ifndef COMMON_TESTSUITE_H
+#define COMMON_TESTSUITE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef MAVLINK_TEST_ALL
+#define MAVLINK_TEST_ALL
+
+static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
+
+static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+
+ mavlink_test_common(system_id, component_id, last_msg);
+}
+#endif
+
+
+
+
+static void mavlink_test_heartbeat(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_heartbeat_t packet_in = {
+ 963497464,
+ 17,
+ 84,
+ 151,
+ 218,
+ 3,
+ };
+ mavlink_heartbeat_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.custom_mode = packet_in.custom_mode;
+ packet1.type = packet_in.type;
+ packet1.autopilot = packet_in.autopilot;
+ packet1.base_mode = packet_in.base_mode;
+ packet1.system_status = packet_in.system_status;
+ packet1.mavlink_version = packet_in.mavlink_version;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_heartbeat_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
+ mavlink_msg_heartbeat_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
+ mavlink_msg_heartbeat_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_heartbeat_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_heartbeat_send(MAVLINK_COMM_1 , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
+ mavlink_msg_heartbeat_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_sys_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_sys_status_t packet_in = {
+ 963497464,
+ 963497672,
+ 963497880,
+ 17859,
+ 17963,
+ 18067,
+ 18171,
+ 18275,
+ 18379,
+ 18483,
+ 18587,
+ 18691,
+ 223,
+ };
+ mavlink_sys_status_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.onboard_control_sensors_present = packet_in.onboard_control_sensors_present;
+ packet1.onboard_control_sensors_enabled = packet_in.onboard_control_sensors_enabled;
+ packet1.onboard_control_sensors_health = packet_in.onboard_control_sensors_health;
+ packet1.load = packet_in.load;
+ packet1.voltage_battery = packet_in.voltage_battery;
+ packet1.current_battery = packet_in.current_battery;
+ packet1.drop_rate_comm = packet_in.drop_rate_comm;
+ packet1.errors_comm = packet_in.errors_comm;
+ packet1.errors_count1 = packet_in.errors_count1;
+ packet1.errors_count2 = packet_in.errors_count2;
+ packet1.errors_count3 = packet_in.errors_count3;
+ packet1.errors_count4 = packet_in.errors_count4;
+ packet1.battery_remaining = packet_in.battery_remaining;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_sys_status_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_sys_status_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_sys_status_pack(system_id, component_id, &msg , packet1.onboard_control_sensors_present , packet1.onboard_control_sensors_enabled , packet1.onboard_control_sensors_health , packet1.load , packet1.voltage_battery , packet1.current_battery , packet1.battery_remaining , packet1.drop_rate_comm , packet1.errors_comm , packet1.errors_count1 , packet1.errors_count2 , packet1.errors_count3 , packet1.errors_count4 );
+ mavlink_msg_sys_status_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_sys_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.onboard_control_sensors_present , packet1.onboard_control_sensors_enabled , packet1.onboard_control_sensors_health , packet1.load , packet1.voltage_battery , packet1.current_battery , packet1.battery_remaining , packet1.drop_rate_comm , packet1.errors_comm , packet1.errors_count1 , packet1.errors_count2 , packet1.errors_count3 , packet1.errors_count4 );
+ mavlink_msg_sys_status_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_sys_status_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_sys_status_send(MAVLINK_COMM_1 , packet1.onboard_control_sensors_present , packet1.onboard_control_sensors_enabled , packet1.onboard_control_sensors_health , packet1.load , packet1.voltage_battery , packet1.current_battery , packet1.battery_remaining , packet1.drop_rate_comm , packet1.errors_comm , packet1.errors_count1 , packet1.errors_count2 , packet1.errors_count3 , packet1.errors_count4 );
+ mavlink_msg_sys_status_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_system_time(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_system_time_t packet_in = {
+ 93372036854775807ULL,
+ 963497880,
+ };
+ mavlink_system_time_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_unix_usec = packet_in.time_unix_usec;
+ packet1.time_boot_ms = packet_in.time_boot_ms;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_system_time_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_system_time_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_system_time_pack(system_id, component_id, &msg , packet1.time_unix_usec , packet1.time_boot_ms );
+ mavlink_msg_system_time_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_system_time_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_unix_usec , packet1.time_boot_ms );
+ mavlink_msg_system_time_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_system_time_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_system_time_send(MAVLINK_COMM_1 , packet1.time_unix_usec , packet1.time_boot_ms );
+ mavlink_msg_system_time_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_ping(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_ping_t packet_in = {
+ 93372036854775807ULL,
+ 963497880,
+ 41,
+ 108,
+ };
+ mavlink_ping_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_usec = packet_in.time_usec;
+ packet1.seq = packet_in.seq;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_ping_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_ping_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_ping_pack(system_id, component_id, &msg , packet1.time_usec , packet1.seq , packet1.target_system , packet1.target_component );
+ mavlink_msg_ping_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_ping_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.seq , packet1.target_system , packet1.target_component );
+ mavlink_msg_ping_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_ping_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_ping_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.seq , packet1.target_system , packet1.target_component );
+ mavlink_msg_ping_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_change_operator_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_change_operator_control_t packet_in = {
+ 5,
+ 72,
+ 139,
+ "DEFGHIJKLMNOPQRSTUVWXYZA",
+ };
+ mavlink_change_operator_control_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.target_system = packet_in.target_system;
+ packet1.control_request = packet_in.control_request;
+ packet1.version = packet_in.version;
+
+ mav_array_memcpy(packet1.passkey, packet_in.passkey, sizeof(char)*25);
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_change_operator_control_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_change_operator_control_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_change_operator_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.control_request , packet1.version , packet1.passkey );
+ mavlink_msg_change_operator_control_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_change_operator_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.control_request , packet1.version , packet1.passkey );
+ mavlink_msg_change_operator_control_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_change_operator_control_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_change_operator_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.control_request , packet1.version , packet1.passkey );
+ mavlink_msg_change_operator_control_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_change_operator_control_ack(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_change_operator_control_ack_t packet_in = {
+ 5,
+ 72,
+ 139,
+ };
+ mavlink_change_operator_control_ack_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.gcs_system_id = packet_in.gcs_system_id;
+ packet1.control_request = packet_in.control_request;
+ packet1.ack = packet_in.ack;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_change_operator_control_ack_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_change_operator_control_ack_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_change_operator_control_ack_pack(system_id, component_id, &msg , packet1.gcs_system_id , packet1.control_request , packet1.ack );
+ mavlink_msg_change_operator_control_ack_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_change_operator_control_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.gcs_system_id , packet1.control_request , packet1.ack );
+ mavlink_msg_change_operator_control_ack_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_change_operator_control_ack_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_change_operator_control_ack_send(MAVLINK_COMM_1 , packet1.gcs_system_id , packet1.control_request , packet1.ack );
+ mavlink_msg_change_operator_control_ack_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_auth_key(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_auth_key_t packet_in = {
+ "ABCDEFGHIJKLMNOPQRSTUVWXYZABCDE",
+ };
+ mavlink_auth_key_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+
+ mav_array_memcpy(packet1.key, packet_in.key, sizeof(char)*32);
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_auth_key_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_auth_key_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_auth_key_pack(system_id, component_id, &msg , packet1.key );
+ mavlink_msg_auth_key_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_auth_key_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.key );
+ mavlink_msg_auth_key_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_auth_key_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_auth_key_send(MAVLINK_COMM_1 , packet1.key );
+ mavlink_msg_auth_key_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_set_mode(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_set_mode_t packet_in = {
+ 963497464,
+ 17,
+ 84,
+ };
+ mavlink_set_mode_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.custom_mode = packet_in.custom_mode;
+ packet1.target_system = packet_in.target_system;
+ packet1.base_mode = packet_in.base_mode;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_mode_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_set_mode_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_mode_pack(system_id, component_id, &msg , packet1.target_system , packet1.base_mode , packet1.custom_mode );
+ mavlink_msg_set_mode_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_mode_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.base_mode , packet1.custom_mode );
+ mavlink_msg_set_mode_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_set_mode_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_mode_send(MAVLINK_COMM_1 , packet1.target_system , packet1.base_mode , packet1.custom_mode );
+ mavlink_msg_set_mode_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_param_request_read(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_param_request_read_t packet_in = {
+ 17235,
+ 139,
+ 206,
+ "EFGHIJKLMNOPQRS",
+ };
+ mavlink_param_request_read_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.param_index = packet_in.param_index;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+
+ mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(char)*16);
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_param_request_read_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_param_request_read_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_param_request_read_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index );
+ mavlink_msg_param_request_read_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_param_request_read_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index );
+ mavlink_msg_param_request_read_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_param_request_read_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_param_request_read_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index );
+ mavlink_msg_param_request_read_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_param_request_list(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_param_request_list_t packet_in = {
+ 5,
+ 72,
+ };
+ mavlink_param_request_list_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_param_request_list_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_param_request_list_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_param_request_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component );
+ mavlink_msg_param_request_list_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_param_request_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component );
+ mavlink_msg_param_request_list_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_param_request_list_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_param_request_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component );
+ mavlink_msg_param_request_list_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_param_value(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_param_value_t packet_in = {
+ 17.0,
+ 17443,
+ 17547,
+ "IJKLMNOPQRSTUVW",
+ 77,
+ };
+ mavlink_param_value_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.param_value = packet_in.param_value;
+ packet1.param_count = packet_in.param_count;
+ packet1.param_index = packet_in.param_index;
+ packet1.param_type = packet_in.param_type;
+
+ mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(char)*16);
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_param_value_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_param_value_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_param_value_pack(system_id, component_id, &msg , packet1.param_id , packet1.param_value , packet1.param_type , packet1.param_count , packet1.param_index );
+ mavlink_msg_param_value_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_param_value_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.param_id , packet1.param_value , packet1.param_type , packet1.param_count , packet1.param_index );
+ mavlink_msg_param_value_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_param_value_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_param_value_send(MAVLINK_COMM_1 , packet1.param_id , packet1.param_value , packet1.param_type , packet1.param_count , packet1.param_index );
+ mavlink_msg_param_value_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_param_set(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_param_set_t packet_in = {
+ 17.0,
+ 17,
+ 84,
+ "GHIJKLMNOPQRSTU",
+ 199,
+ };
+ mavlink_param_set_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.param_value = packet_in.param_value;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+ packet1.param_type = packet_in.param_type;
+
+ mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(char)*16);
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_param_set_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_param_set_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_param_set_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_value , packet1.param_type );
+ mavlink_msg_param_set_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_param_set_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_value , packet1.param_type );
+ mavlink_msg_param_set_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_param_set_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_param_set_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_value , packet1.param_type );
+ mavlink_msg_param_set_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_gps_raw_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_gps_raw_int_t packet_in = {
+ 93372036854775807ULL,
+ 963497880,
+ 963498088,
+ 963498296,
+ 18275,
+ 18379,
+ 18483,
+ 18587,
+ 89,
+ 156,
+ };
+ mavlink_gps_raw_int_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_usec = packet_in.time_usec;
+ packet1.lat = packet_in.lat;
+ packet1.lon = packet_in.lon;
+ packet1.alt = packet_in.alt;
+ packet1.eph = packet_in.eph;
+ packet1.epv = packet_in.epv;
+ packet1.vel = packet_in.vel;
+ packet1.cog = packet_in.cog;
+ packet1.fix_type = packet_in.fix_type;
+ packet1.satellites_visible = packet_in.satellites_visible;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_gps_raw_int_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_gps_raw_int_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_gps_raw_int_pack(system_id, component_id, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible );
+ mavlink_msg_gps_raw_int_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_gps_raw_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible );
+ mavlink_msg_gps_raw_int_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_gps_raw_int_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_gps_raw_int_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible );
+ mavlink_msg_gps_raw_int_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_gps_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_gps_status_t packet_in = {
+ 5,
+ { 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91 },
+ { 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151 },
+ { 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211 },
+ { 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 },
+ { 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75 },
+ };
+ mavlink_gps_status_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.satellites_visible = packet_in.satellites_visible;
+
+ mav_array_memcpy(packet1.satellite_prn, packet_in.satellite_prn, sizeof(uint8_t)*20);
+ mav_array_memcpy(packet1.satellite_used, packet_in.satellite_used, sizeof(uint8_t)*20);
+ mav_array_memcpy(packet1.satellite_elevation, packet_in.satellite_elevation, sizeof(uint8_t)*20);
+ mav_array_memcpy(packet1.satellite_azimuth, packet_in.satellite_azimuth, sizeof(uint8_t)*20);
+ mav_array_memcpy(packet1.satellite_snr, packet_in.satellite_snr, sizeof(uint8_t)*20);
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_gps_status_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_gps_status_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_gps_status_pack(system_id, component_id, &msg , packet1.satellites_visible , packet1.satellite_prn , packet1.satellite_used , packet1.satellite_elevation , packet1.satellite_azimuth , packet1.satellite_snr );
+ mavlink_msg_gps_status_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_gps_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.satellites_visible , packet1.satellite_prn , packet1.satellite_used , packet1.satellite_elevation , packet1.satellite_azimuth , packet1.satellite_snr );
+ mavlink_msg_gps_status_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_gps_status_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_gps_status_send(MAVLINK_COMM_1 , packet1.satellites_visible , packet1.satellite_prn , packet1.satellite_used , packet1.satellite_elevation , packet1.satellite_azimuth , packet1.satellite_snr );
+ mavlink_msg_gps_status_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_scaled_imu(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_scaled_imu_t packet_in = {
+ 963497464,
+ 17443,
+ 17547,
+ 17651,
+ 17755,
+ 17859,
+ 17963,
+ 18067,
+ 18171,
+ 18275,
+ };
+ mavlink_scaled_imu_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_boot_ms = packet_in.time_boot_ms;
+ packet1.xacc = packet_in.xacc;
+ packet1.yacc = packet_in.yacc;
+ packet1.zacc = packet_in.zacc;
+ packet1.xgyro = packet_in.xgyro;
+ packet1.ygyro = packet_in.ygyro;
+ packet1.zgyro = packet_in.zgyro;
+ packet1.xmag = packet_in.xmag;
+ packet1.ymag = packet_in.ymag;
+ packet1.zmag = packet_in.zmag;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_scaled_imu_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_scaled_imu_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_scaled_imu_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
+ mavlink_msg_scaled_imu_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_scaled_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
+ mavlink_msg_scaled_imu_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_scaled_imu_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_scaled_imu_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
+ mavlink_msg_scaled_imu_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_raw_imu(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_raw_imu_t packet_in = {
+ 93372036854775807ULL,
+ 17651,
+ 17755,
+ 17859,
+ 17963,
+ 18067,
+ 18171,
+ 18275,
+ 18379,
+ 18483,
+ };
+ mavlink_raw_imu_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_usec = packet_in.time_usec;
+ packet1.xacc = packet_in.xacc;
+ packet1.yacc = packet_in.yacc;
+ packet1.zacc = packet_in.zacc;
+ packet1.xgyro = packet_in.xgyro;
+ packet1.ygyro = packet_in.ygyro;
+ packet1.zgyro = packet_in.zgyro;
+ packet1.xmag = packet_in.xmag;
+ packet1.ymag = packet_in.ymag;
+ packet1.zmag = packet_in.zmag;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_raw_imu_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_raw_imu_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_raw_imu_pack(system_id, component_id, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
+ mavlink_msg_raw_imu_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_raw_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
+ mavlink_msg_raw_imu_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_raw_imu_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_raw_imu_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
+ mavlink_msg_raw_imu_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_raw_pressure(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_raw_pressure_t packet_in = {
+ 93372036854775807ULL,
+ 17651,
+ 17755,
+ 17859,
+ 17963,
+ };
+ mavlink_raw_pressure_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_usec = packet_in.time_usec;
+ packet1.press_abs = packet_in.press_abs;
+ packet1.press_diff1 = packet_in.press_diff1;
+ packet1.press_diff2 = packet_in.press_diff2;
+ packet1.temperature = packet_in.temperature;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_raw_pressure_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_raw_pressure_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_raw_pressure_pack(system_id, component_id, &msg , packet1.time_usec , packet1.press_abs , packet1.press_diff1 , packet1.press_diff2 , packet1.temperature );
+ mavlink_msg_raw_pressure_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_raw_pressure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.press_abs , packet1.press_diff1 , packet1.press_diff2 , packet1.temperature );
+ mavlink_msg_raw_pressure_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_raw_pressure_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_raw_pressure_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.press_abs , packet1.press_diff1 , packet1.press_diff2 , packet1.temperature );
+ mavlink_msg_raw_pressure_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_scaled_pressure(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_scaled_pressure_t packet_in = {
+ 963497464,
+ 45.0,
+ 73.0,
+ 17859,
+ };
+ mavlink_scaled_pressure_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_boot_ms = packet_in.time_boot_ms;
+ packet1.press_abs = packet_in.press_abs;
+ packet1.press_diff = packet_in.press_diff;
+ packet1.temperature = packet_in.temperature;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_scaled_pressure_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_scaled_pressure_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_scaled_pressure_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature );
+ mavlink_msg_scaled_pressure_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_scaled_pressure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature );
+ mavlink_msg_scaled_pressure_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_scaled_pressure_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_scaled_pressure_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature );
+ mavlink_msg_scaled_pressure_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_attitude(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_attitude_t packet_in = {
+ 963497464,
+ 45.0,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 185.0,
+ };
+ mavlink_attitude_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_boot_ms = packet_in.time_boot_ms;
+ packet1.roll = packet_in.roll;
+ packet1.pitch = packet_in.pitch;
+ packet1.yaw = packet_in.yaw;
+ packet1.rollspeed = packet_in.rollspeed;
+ packet1.pitchspeed = packet_in.pitchspeed;
+ packet1.yawspeed = packet_in.yawspeed;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_attitude_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_attitude_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_attitude_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
+ mavlink_msg_attitude_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_attitude_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
+ mavlink_msg_attitude_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_attitude_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_attitude_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
+ mavlink_msg_attitude_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_attitude_quaternion(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_attitude_quaternion_t packet_in = {
+ 963497464,
+ 45.0,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 185.0,
+ 213.0,
+ };
+ mavlink_attitude_quaternion_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_boot_ms = packet_in.time_boot_ms;
+ packet1.q1 = packet_in.q1;
+ packet1.q2 = packet_in.q2;
+ packet1.q3 = packet_in.q3;
+ packet1.q4 = packet_in.q4;
+ packet1.rollspeed = packet_in.rollspeed;
+ packet1.pitchspeed = packet_in.pitchspeed;
+ packet1.yawspeed = packet_in.yawspeed;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_attitude_quaternion_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_attitude_quaternion_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_attitude_quaternion_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
+ mavlink_msg_attitude_quaternion_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_attitude_quaternion_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
+ mavlink_msg_attitude_quaternion_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_attitude_quaternion_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_attitude_quaternion_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
+ mavlink_msg_attitude_quaternion_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_local_position_ned(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_local_position_ned_t packet_in = {
+ 963497464,
+ 45.0,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 185.0,
+ };
+ mavlink_local_position_ned_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_boot_ms = packet_in.time_boot_ms;
+ packet1.x = packet_in.x;
+ packet1.y = packet_in.y;
+ packet1.z = packet_in.z;
+ packet1.vx = packet_in.vx;
+ packet1.vy = packet_in.vy;
+ packet1.vz = packet_in.vz;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_local_position_ned_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_local_position_ned_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_local_position_ned_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz );
+ mavlink_msg_local_position_ned_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_local_position_ned_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz );
+ mavlink_msg_local_position_ned_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_local_position_ned_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_local_position_ned_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz );
+ mavlink_msg_local_position_ned_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_global_position_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_global_position_int_t packet_in = {
+ 963497464,
+ 963497672,
+ 963497880,
+ 963498088,
+ 963498296,
+ 18275,
+ 18379,
+ 18483,
+ 18587,
+ };
+ mavlink_global_position_int_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_boot_ms = packet_in.time_boot_ms;
+ packet1.lat = packet_in.lat;
+ packet1.lon = packet_in.lon;
+ packet1.alt = packet_in.alt;
+ packet1.relative_alt = packet_in.relative_alt;
+ packet1.vx = packet_in.vx;
+ packet1.vy = packet_in.vy;
+ packet1.vz = packet_in.vz;
+ packet1.hdg = packet_in.hdg;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_global_position_int_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_global_position_int_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_global_position_int_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.hdg );
+ mavlink_msg_global_position_int_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_global_position_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.hdg );
+ mavlink_msg_global_position_int_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_global_position_int_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_global_position_int_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.hdg );
+ mavlink_msg_global_position_int_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_rc_channels_scaled(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_rc_channels_scaled_t packet_in = {
+ 963497464,
+ 17443,
+ 17547,
+ 17651,
+ 17755,
+ 17859,
+ 17963,
+ 18067,
+ 18171,
+ 65,
+ 132,
+ };
+ mavlink_rc_channels_scaled_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_boot_ms = packet_in.time_boot_ms;
+ packet1.chan1_scaled = packet_in.chan1_scaled;
+ packet1.chan2_scaled = packet_in.chan2_scaled;
+ packet1.chan3_scaled = packet_in.chan3_scaled;
+ packet1.chan4_scaled = packet_in.chan4_scaled;
+ packet1.chan5_scaled = packet_in.chan5_scaled;
+ packet1.chan6_scaled = packet_in.chan6_scaled;
+ packet1.chan7_scaled = packet_in.chan7_scaled;
+ packet1.chan8_scaled = packet_in.chan8_scaled;
+ packet1.port = packet_in.port;
+ packet1.rssi = packet_in.rssi;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_rc_channels_scaled_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_rc_channels_scaled_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_rc_channels_scaled_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.port , packet1.chan1_scaled , packet1.chan2_scaled , packet1.chan3_scaled , packet1.chan4_scaled , packet1.chan5_scaled , packet1.chan6_scaled , packet1.chan7_scaled , packet1.chan8_scaled , packet1.rssi );
+ mavlink_msg_rc_channels_scaled_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_rc_channels_scaled_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.port , packet1.chan1_scaled , packet1.chan2_scaled , packet1.chan3_scaled , packet1.chan4_scaled , packet1.chan5_scaled , packet1.chan6_scaled , packet1.chan7_scaled , packet1.chan8_scaled , packet1.rssi );
+ mavlink_msg_rc_channels_scaled_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_rc_channels_scaled_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_rc_channels_scaled_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.port , packet1.chan1_scaled , packet1.chan2_scaled , packet1.chan3_scaled , packet1.chan4_scaled , packet1.chan5_scaled , packet1.chan6_scaled , packet1.chan7_scaled , packet1.chan8_scaled , packet1.rssi );
+ mavlink_msg_rc_channels_scaled_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_rc_channels_raw(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_rc_channels_raw_t packet_in = {
+ 963497464,
+ 17443,
+ 17547,
+ 17651,
+ 17755,
+ 17859,
+ 17963,
+ 18067,
+ 18171,
+ 65,
+ 132,
+ };
+ mavlink_rc_channels_raw_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_boot_ms = packet_in.time_boot_ms;
+ packet1.chan1_raw = packet_in.chan1_raw;
+ packet1.chan2_raw = packet_in.chan2_raw;
+ packet1.chan3_raw = packet_in.chan3_raw;
+ packet1.chan4_raw = packet_in.chan4_raw;
+ packet1.chan5_raw = packet_in.chan5_raw;
+ packet1.chan6_raw = packet_in.chan6_raw;
+ packet1.chan7_raw = packet_in.chan7_raw;
+ packet1.chan8_raw = packet_in.chan8_raw;
+ packet1.port = packet_in.port;
+ packet1.rssi = packet_in.rssi;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_rc_channels_raw_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_rc_channels_raw_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_rc_channels_raw_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.port , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.rssi );
+ mavlink_msg_rc_channels_raw_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_rc_channels_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.port , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.rssi );
+ mavlink_msg_rc_channels_raw_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_rc_channels_raw_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_rc_channels_raw_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.port , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.rssi );
+ mavlink_msg_rc_channels_raw_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_servo_output_raw(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_servo_output_raw_t packet_in = {
+ 963497464,
+ 17443,
+ 17547,
+ 17651,
+ 17755,
+ 17859,
+ 17963,
+ 18067,
+ 18171,
+ 65,
+ };
+ mavlink_servo_output_raw_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_usec = packet_in.time_usec;
+ packet1.servo1_raw = packet_in.servo1_raw;
+ packet1.servo2_raw = packet_in.servo2_raw;
+ packet1.servo3_raw = packet_in.servo3_raw;
+ packet1.servo4_raw = packet_in.servo4_raw;
+ packet1.servo5_raw = packet_in.servo5_raw;
+ packet1.servo6_raw = packet_in.servo6_raw;
+ packet1.servo7_raw = packet_in.servo7_raw;
+ packet1.servo8_raw = packet_in.servo8_raw;
+ packet1.port = packet_in.port;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_servo_output_raw_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_servo_output_raw_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_servo_output_raw_pack(system_id, component_id, &msg , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
+ mavlink_msg_servo_output_raw_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_servo_output_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
+ mavlink_msg_servo_output_raw_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_servo_output_raw_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_servo_output_raw_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
+ mavlink_msg_servo_output_raw_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_mission_request_partial_list(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_mission_request_partial_list_t packet_in = {
+ 17235,
+ 17339,
+ 17,
+ 84,
+ };
+ mavlink_mission_request_partial_list_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.start_index = packet_in.start_index;
+ packet1.end_index = packet_in.end_index;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_request_partial_list_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_mission_request_partial_list_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_request_partial_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
+ mavlink_msg_mission_request_partial_list_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_request_partial_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
+ mavlink_msg_mission_request_partial_list_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_mission_request_partial_list_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_request_partial_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
+ mavlink_msg_mission_request_partial_list_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_mission_write_partial_list(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_mission_write_partial_list_t packet_in = {
+ 17235,
+ 17339,
+ 17,
+ 84,
+ };
+ mavlink_mission_write_partial_list_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.start_index = packet_in.start_index;
+ packet1.end_index = packet_in.end_index;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_write_partial_list_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_mission_write_partial_list_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_write_partial_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
+ mavlink_msg_mission_write_partial_list_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_write_partial_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
+ mavlink_msg_mission_write_partial_list_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_mission_write_partial_list_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_write_partial_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
+ mavlink_msg_mission_write_partial_list_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_mission_item(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_mission_item_t packet_in = {
+ 17.0,
+ 45.0,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 185.0,
+ 18691,
+ 18795,
+ 101,
+ 168,
+ 235,
+ 46,
+ 113,
+ };
+ mavlink_mission_item_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.param1 = packet_in.param1;
+ packet1.param2 = packet_in.param2;
+ packet1.param3 = packet_in.param3;
+ packet1.param4 = packet_in.param4;
+ packet1.x = packet_in.x;
+ packet1.y = packet_in.y;
+ packet1.z = packet_in.z;
+ packet1.seq = packet_in.seq;
+ packet1.command = packet_in.command;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+ packet1.frame = packet_in.frame;
+ packet1.current = packet_in.current;
+ packet1.autocontinue = packet_in.autocontinue;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_item_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_mission_item_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_item_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.seq , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z );
+ mavlink_msg_mission_item_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_item_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.seq , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z );
+ mavlink_msg_mission_item_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_mission_item_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_item_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.seq , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z );
+ mavlink_msg_mission_item_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_mission_request(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_mission_request_t packet_in = {
+ 17235,
+ 139,
+ 206,
+ };
+ mavlink_mission_request_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.seq = packet_in.seq;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_request_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_mission_request_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_request_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.seq );
+ mavlink_msg_mission_request_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_request_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.seq );
+ mavlink_msg_mission_request_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_mission_request_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_request_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.seq );
+ mavlink_msg_mission_request_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_mission_set_current(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_mission_set_current_t packet_in = {
+ 17235,
+ 139,
+ 206,
+ };
+ mavlink_mission_set_current_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.seq = packet_in.seq;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_set_current_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_mission_set_current_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_set_current_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.seq );
+ mavlink_msg_mission_set_current_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_set_current_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.seq );
+ mavlink_msg_mission_set_current_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_mission_set_current_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_set_current_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.seq );
+ mavlink_msg_mission_set_current_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_mission_current(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_mission_current_t packet_in = {
+ 17235,
+ };
+ mavlink_mission_current_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.seq = packet_in.seq;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_current_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_mission_current_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_current_pack(system_id, component_id, &msg , packet1.seq );
+ mavlink_msg_mission_current_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_current_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.seq );
+ mavlink_msg_mission_current_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_mission_current_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_current_send(MAVLINK_COMM_1 , packet1.seq );
+ mavlink_msg_mission_current_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_mission_request_list(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_mission_request_list_t packet_in = {
+ 5,
+ 72,
+ };
+ mavlink_mission_request_list_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_request_list_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_mission_request_list_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_request_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component );
+ mavlink_msg_mission_request_list_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_request_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component );
+ mavlink_msg_mission_request_list_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_mission_request_list_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_request_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component );
+ mavlink_msg_mission_request_list_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_mission_count(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_mission_count_t packet_in = {
+ 17235,
+ 139,
+ 206,
+ };
+ mavlink_mission_count_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.count = packet_in.count;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_count_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_mission_count_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_count_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.count );
+ mavlink_msg_mission_count_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_count_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.count );
+ mavlink_msg_mission_count_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_mission_count_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_count_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.count );
+ mavlink_msg_mission_count_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_mission_clear_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_mission_clear_all_t packet_in = {
+ 5,
+ 72,
+ };
+ mavlink_mission_clear_all_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_clear_all_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_mission_clear_all_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_clear_all_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component );
+ mavlink_msg_mission_clear_all_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_clear_all_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component );
+ mavlink_msg_mission_clear_all_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_mission_clear_all_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_clear_all_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component );
+ mavlink_msg_mission_clear_all_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_mission_item_reached(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_mission_item_reached_t packet_in = {
+ 17235,
+ };
+ mavlink_mission_item_reached_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.seq = packet_in.seq;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_item_reached_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_mission_item_reached_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_item_reached_pack(system_id, component_id, &msg , packet1.seq );
+ mavlink_msg_mission_item_reached_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_item_reached_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.seq );
+ mavlink_msg_mission_item_reached_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_mission_item_reached_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_item_reached_send(MAVLINK_COMM_1 , packet1.seq );
+ mavlink_msg_mission_item_reached_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_mission_ack(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_mission_ack_t packet_in = {
+ 5,
+ 72,
+ 139,
+ };
+ mavlink_mission_ack_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+ packet1.type = packet_in.type;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_ack_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_mission_ack_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_ack_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.type );
+ mavlink_msg_mission_ack_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.type );
+ mavlink_msg_mission_ack_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_mission_ack_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_mission_ack_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.type );
+ mavlink_msg_mission_ack_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_set_gps_global_origin(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_set_gps_global_origin_t packet_in = {
+ 963497464,
+ 963497672,
+ 963497880,
+ 41,
+ };
+ mavlink_set_gps_global_origin_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.latitude = packet_in.latitude;
+ packet1.longitude = packet_in.longitude;
+ packet1.altitude = packet_in.altitude;
+ packet1.target_system = packet_in.target_system;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_gps_global_origin_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_set_gps_global_origin_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_gps_global_origin_pack(system_id, component_id, &msg , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude );
+ mavlink_msg_set_gps_global_origin_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_gps_global_origin_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude );
+ mavlink_msg_set_gps_global_origin_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_set_gps_global_origin_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_gps_global_origin_send(MAVLINK_COMM_1 , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude );
+ mavlink_msg_set_gps_global_origin_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_gps_global_origin(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_gps_global_origin_t packet_in = {
+ 963497464,
+ 963497672,
+ 963497880,
+ };
+ mavlink_gps_global_origin_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.latitude = packet_in.latitude;
+ packet1.longitude = packet_in.longitude;
+ packet1.altitude = packet_in.altitude;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_gps_global_origin_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_gps_global_origin_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_gps_global_origin_pack(system_id, component_id, &msg , packet1.latitude , packet1.longitude , packet1.altitude );
+ mavlink_msg_gps_global_origin_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_gps_global_origin_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.latitude , packet1.longitude , packet1.altitude );
+ mavlink_msg_gps_global_origin_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_gps_global_origin_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_gps_global_origin_send(MAVLINK_COMM_1 , packet1.latitude , packet1.longitude , packet1.altitude );
+ mavlink_msg_gps_global_origin_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_set_local_position_setpoint(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_set_local_position_setpoint_t packet_in = {
+ 17.0,
+ 45.0,
+ 73.0,
+ 101.0,
+ 53,
+ 120,
+ 187,
+ };
+ mavlink_set_local_position_setpoint_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.x = packet_in.x;
+ packet1.y = packet_in.y;
+ packet1.z = packet_in.z;
+ packet1.yaw = packet_in.yaw;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+ packet1.coordinate_frame = packet_in.coordinate_frame;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_local_position_setpoint_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_set_local_position_setpoint_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_local_position_setpoint_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw );
+ mavlink_msg_set_local_position_setpoint_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_local_position_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw );
+ mavlink_msg_set_local_position_setpoint_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_set_local_position_setpoint_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_local_position_setpoint_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw );
+ mavlink_msg_set_local_position_setpoint_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_local_position_setpoint(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_local_position_setpoint_t packet_in = {
+ 17.0,
+ 45.0,
+ 73.0,
+ 101.0,
+ 53,
+ };
+ mavlink_local_position_setpoint_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.x = packet_in.x;
+ packet1.y = packet_in.y;
+ packet1.z = packet_in.z;
+ packet1.yaw = packet_in.yaw;
+ packet1.coordinate_frame = packet_in.coordinate_frame;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_local_position_setpoint_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_local_position_setpoint_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_local_position_setpoint_pack(system_id, component_id, &msg , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw );
+ mavlink_msg_local_position_setpoint_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_local_position_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw );
+ mavlink_msg_local_position_setpoint_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_local_position_setpoint_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_local_position_setpoint_send(MAVLINK_COMM_1 , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw );
+ mavlink_msg_local_position_setpoint_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_global_position_setpoint_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_global_position_setpoint_int_t packet_in = {
+ 963497464,
+ 963497672,
+ 963497880,
+ 17859,
+ 175,
+ };
+ mavlink_global_position_setpoint_int_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.latitude = packet_in.latitude;
+ packet1.longitude = packet_in.longitude;
+ packet1.altitude = packet_in.altitude;
+ packet1.yaw = packet_in.yaw;
+ packet1.coordinate_frame = packet_in.coordinate_frame;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_global_position_setpoint_int_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_global_position_setpoint_int_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_global_position_setpoint_int_pack(system_id, component_id, &msg , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw );
+ mavlink_msg_global_position_setpoint_int_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_global_position_setpoint_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw );
+ mavlink_msg_global_position_setpoint_int_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_global_position_setpoint_int_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_1 , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw );
+ mavlink_msg_global_position_setpoint_int_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_set_global_position_setpoint_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_set_global_position_setpoint_int_t packet_in = {
+ 963497464,
+ 963497672,
+ 963497880,
+ 17859,
+ 175,
+ };
+ mavlink_set_global_position_setpoint_int_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.latitude = packet_in.latitude;
+ packet1.longitude = packet_in.longitude;
+ packet1.altitude = packet_in.altitude;
+ packet1.yaw = packet_in.yaw;
+ packet1.coordinate_frame = packet_in.coordinate_frame;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_global_position_setpoint_int_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_set_global_position_setpoint_int_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_global_position_setpoint_int_pack(system_id, component_id, &msg , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw );
+ mavlink_msg_set_global_position_setpoint_int_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_global_position_setpoint_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw );
+ mavlink_msg_set_global_position_setpoint_int_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_set_global_position_setpoint_int_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_global_position_setpoint_int_send(MAVLINK_COMM_1 , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw );
+ mavlink_msg_set_global_position_setpoint_int_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_safety_set_allowed_area(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_safety_set_allowed_area_t packet_in = {
+ 17.0,
+ 45.0,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 77,
+ 144,
+ 211,
+ };
+ mavlink_safety_set_allowed_area_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.p1x = packet_in.p1x;
+ packet1.p1y = packet_in.p1y;
+ packet1.p1z = packet_in.p1z;
+ packet1.p2x = packet_in.p2x;
+ packet1.p2y = packet_in.p2y;
+ packet1.p2z = packet_in.p2z;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+ packet1.frame = packet_in.frame;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_safety_set_allowed_area_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_safety_set_allowed_area_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_safety_set_allowed_area_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
+ mavlink_msg_safety_set_allowed_area_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_safety_set_allowed_area_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
+ mavlink_msg_safety_set_allowed_area_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_safety_set_allowed_area_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_safety_set_allowed_area_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
+ mavlink_msg_safety_set_allowed_area_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_safety_allowed_area(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_safety_allowed_area_t packet_in = {
+ 17.0,
+ 45.0,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 77,
+ };
+ mavlink_safety_allowed_area_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.p1x = packet_in.p1x;
+ packet1.p1y = packet_in.p1y;
+ packet1.p1z = packet_in.p1z;
+ packet1.p2x = packet_in.p2x;
+ packet1.p2y = packet_in.p2y;
+ packet1.p2z = packet_in.p2z;
+ packet1.frame = packet_in.frame;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_safety_allowed_area_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_safety_allowed_area_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_safety_allowed_area_pack(system_id, component_id, &msg , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
+ mavlink_msg_safety_allowed_area_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_safety_allowed_area_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
+ mavlink_msg_safety_allowed_area_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_safety_allowed_area_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_safety_allowed_area_send(MAVLINK_COMM_1 , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
+ mavlink_msg_safety_allowed_area_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_set_roll_pitch_yaw_thrust(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_set_roll_pitch_yaw_thrust_t packet_in = {
+ 17.0,
+ 45.0,
+ 73.0,
+ 101.0,
+ 53,
+ 120,
+ };
+ mavlink_set_roll_pitch_yaw_thrust_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.roll = packet_in.roll;
+ packet1.pitch = packet_in.pitch;
+ packet1.yaw = packet_in.yaw;
+ packet1.thrust = packet_in.thrust;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_roll_pitch_yaw_thrust_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_set_roll_pitch_yaw_thrust_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_roll_pitch_yaw_thrust_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
+ mavlink_msg_set_roll_pitch_yaw_thrust_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_roll_pitch_yaw_thrust_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
+ mavlink_msg_set_roll_pitch_yaw_thrust_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_set_roll_pitch_yaw_thrust_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_roll_pitch_yaw_thrust_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
+ mavlink_msg_set_roll_pitch_yaw_thrust_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_set_roll_pitch_yaw_speed_thrust(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_set_roll_pitch_yaw_speed_thrust_t packet_in = {
+ 17.0,
+ 45.0,
+ 73.0,
+ 101.0,
+ 53,
+ 120,
+ };
+ mavlink_set_roll_pitch_yaw_speed_thrust_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.roll_speed = packet_in.roll_speed;
+ packet1.pitch_speed = packet_in.pitch_speed;
+ packet1.yaw_speed = packet_in.yaw_speed;
+ packet1.thrust = packet_in.thrust;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_roll_pitch_yaw_speed_thrust_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust );
+ mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust );
+ mavlink_msg_set_roll_pitch_yaw_speed_thrust_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_set_roll_pitch_yaw_speed_thrust_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_roll_pitch_yaw_speed_thrust_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust );
+ mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_roll_pitch_yaw_thrust_setpoint(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_roll_pitch_yaw_thrust_setpoint_t packet_in = {
+ 963497464,
+ 45.0,
+ 73.0,
+ 101.0,
+ 129.0,
+ };
+ mavlink_roll_pitch_yaw_thrust_setpoint_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_boot_ms = packet_in.time_boot_ms;
+ packet1.roll = packet_in.roll;
+ packet1.pitch = packet_in.pitch;
+ packet1.yaw = packet_in.yaw;
+ packet1.thrust = packet_in.thrust;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
+ mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
+ mavlink_msg_roll_pitch_yaw_thrust_setpoint_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_roll_pitch_yaw_thrust_setpoint_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
+ mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_roll_pitch_yaw_speed_thrust_setpoint(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet_in = {
+ 963497464,
+ 45.0,
+ 73.0,
+ 101.0,
+ 129.0,
+ };
+ mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_boot_ms = packet_in.time_boot_ms;
+ packet1.roll_speed = packet_in.roll_speed;
+ packet1.pitch_speed = packet_in.pitch_speed;
+ packet1.yaw_speed = packet_in.yaw_speed;
+ packet1.thrust = packet_in.thrust;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust );
+ mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust );
+ mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_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_roll_pitch_yaw_speed_thrust_setpoint_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust );
+ mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_set_quad_motors_setpoint(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_set_quad_motors_setpoint_t packet_in = {
+ 17235,
+ 17339,
+ 17443,
+ 17547,
+ 29,
+ };
+ mavlink_set_quad_motors_setpoint_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.motor_front_nw = packet_in.motor_front_nw;
+ packet1.motor_right_ne = packet_in.motor_right_ne;
+ packet1.motor_back_se = packet_in.motor_back_se;
+ packet1.motor_left_sw = packet_in.motor_left_sw;
+ packet1.target_system = packet_in.target_system;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_quad_motors_setpoint_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_set_quad_motors_setpoint_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_quad_motors_setpoint_pack(system_id, component_id, &msg , packet1.target_system , packet1.motor_front_nw , packet1.motor_right_ne , packet1.motor_back_se , packet1.motor_left_sw );
+ mavlink_msg_set_quad_motors_setpoint_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_quad_motors_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.motor_front_nw , packet1.motor_right_ne , packet1.motor_back_se , packet1.motor_left_sw );
+ mavlink_msg_set_quad_motors_setpoint_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_set_quad_motors_setpoint_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_quad_motors_setpoint_send(MAVLINK_COMM_1 , packet1.target_system , packet1.motor_front_nw , packet1.motor_right_ne , packet1.motor_back_se , packet1.motor_left_sw );
+ mavlink_msg_set_quad_motors_setpoint_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_set_quad_swarm_roll_pitch_yaw_thrust(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet_in = {
+ { 17235, 17236, 17237, 17238 },
+ { 17651, 17652, 17653, 17654 },
+ { 18067, 18068, 18069, 18070 },
+ { 18483, 18484, 18485, 18486 },
+ 101,
+ 168,
+ };
+ mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.group = packet_in.group;
+ packet1.mode = packet_in.mode;
+
+ mav_array_memcpy(packet1.roll, packet_in.roll, sizeof(int16_t)*4);
+ mav_array_memcpy(packet1.pitch, packet_in.pitch, sizeof(int16_t)*4);
+ mav_array_memcpy(packet1.yaw, packet_in.yaw, sizeof(int16_t)*4);
+ mav_array_memcpy(packet1.thrust, packet_in.thrust, sizeof(uint16_t)*4);
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack(system_id, component_id, &msg , packet1.group , packet1.mode , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
+ mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.group , packet1.mode , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
+ mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_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_set_quad_swarm_roll_pitch_yaw_thrust_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_send(MAVLINK_COMM_1 , packet1.group , packet1.mode , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
+ mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_nav_controller_output(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_nav_controller_output_t packet_in = {
+ 17.0,
+ 45.0,
+ 73.0,
+ 101.0,
+ 129.0,
+ 18275,
+ 18379,
+ 18483,
+ };
+ mavlink_nav_controller_output_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.nav_roll = packet_in.nav_roll;
+ packet1.nav_pitch = packet_in.nav_pitch;
+ packet1.alt_error = packet_in.alt_error;
+ packet1.aspd_error = packet_in.aspd_error;
+ packet1.xtrack_error = packet_in.xtrack_error;
+ packet1.nav_bearing = packet_in.nav_bearing;
+ packet1.target_bearing = packet_in.target_bearing;
+ packet1.wp_dist = packet_in.wp_dist;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_nav_controller_output_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_nav_controller_output_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_nav_controller_output_pack(system_id, component_id, &msg , packet1.nav_roll , packet1.nav_pitch , packet1.nav_bearing , packet1.target_bearing , packet1.wp_dist , packet1.alt_error , packet1.aspd_error , packet1.xtrack_error );
+ mavlink_msg_nav_controller_output_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_nav_controller_output_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.nav_roll , packet1.nav_pitch , packet1.nav_bearing , packet1.target_bearing , packet1.wp_dist , packet1.alt_error , packet1.aspd_error , packet1.xtrack_error );
+ mavlink_msg_nav_controller_output_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_nav_controller_output_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_nav_controller_output_send(MAVLINK_COMM_1 , packet1.nav_roll , packet1.nav_pitch , packet1.nav_bearing , packet1.target_bearing , packet1.wp_dist , packet1.alt_error , packet1.aspd_error , packet1.xtrack_error );
+ mavlink_msg_nav_controller_output_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_set_quad_swarm_led_roll_pitch_yaw_thrust(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t packet_in = {
+ { 17235, 17236, 17237, 17238 },
+ { 17651, 17652, 17653, 17654 },
+ { 18067, 18068, 18069, 18070 },
+ { 18483, 18484, 18485, 18486 },
+ 101,
+ 168,
+ { 235, 236, 237, 238 },
+ { 247, 248, 249, 250 },
+ { 3, 4, 5, 6 },
+ };
+ mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.group = packet_in.group;
+ packet1.mode = packet_in.mode;
+
+ mav_array_memcpy(packet1.roll, packet_in.roll, sizeof(int16_t)*4);
+ mav_array_memcpy(packet1.pitch, packet_in.pitch, sizeof(int16_t)*4);
+ mav_array_memcpy(packet1.yaw, packet_in.yaw, sizeof(int16_t)*4);
+ mav_array_memcpy(packet1.thrust, packet_in.thrust, sizeof(uint16_t)*4);
+ mav_array_memcpy(packet1.led_red, packet_in.led_red, sizeof(uint8_t)*4);
+ mav_array_memcpy(packet1.led_blue, packet_in.led_blue, sizeof(uint8_t)*4);
+ mav_array_memcpy(packet1.led_green, packet_in.led_green, sizeof(uint8_t)*4);
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_pack(system_id, component_id, &msg , packet1.group , packet1.mode , packet1.led_red , packet1.led_blue , packet1.led_green , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
+ mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.group , packet1.mode , packet1.led_red , packet1.led_blue , packet1.led_green , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
+ mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_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_set_quad_swarm_led_roll_pitch_yaw_thrust_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_send(MAVLINK_COMM_1 , packet1.group , packet1.mode , packet1.led_red , packet1.led_blue , packet1.led_green , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
+ mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_state_correction(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_state_correction_t packet_in = {
+ 17.0,
+ 45.0,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 185.0,
+ 213.0,
+ 241.0,
+ };
+ mavlink_state_correction_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.xErr = packet_in.xErr;
+ packet1.yErr = packet_in.yErr;
+ packet1.zErr = packet_in.zErr;
+ packet1.rollErr = packet_in.rollErr;
+ packet1.pitchErr = packet_in.pitchErr;
+ packet1.yawErr = packet_in.yawErr;
+ packet1.vxErr = packet_in.vxErr;
+ packet1.vyErr = packet_in.vyErr;
+ packet1.vzErr = packet_in.vzErr;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_state_correction_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_state_correction_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_state_correction_pack(system_id, component_id, &msg , packet1.xErr , packet1.yErr , packet1.zErr , packet1.rollErr , packet1.pitchErr , packet1.yawErr , packet1.vxErr , packet1.vyErr , packet1.vzErr );
+ mavlink_msg_state_correction_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_state_correction_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.xErr , packet1.yErr , packet1.zErr , packet1.rollErr , packet1.pitchErr , packet1.yawErr , packet1.vxErr , packet1.vyErr , packet1.vzErr );
+ mavlink_msg_state_correction_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_state_correction_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_state_correction_send(MAVLINK_COMM_1 , packet1.xErr , packet1.yErr , packet1.zErr , packet1.rollErr , packet1.pitchErr , packet1.yawErr , packet1.vxErr , packet1.vyErr , packet1.vzErr );
+ mavlink_msg_state_correction_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_request_data_stream(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_request_data_stream_t packet_in = {
+ 17235,
+ 139,
+ 206,
+ 17,
+ 84,
+ };
+ mavlink_request_data_stream_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.req_message_rate = packet_in.req_message_rate;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+ packet1.req_stream_id = packet_in.req_stream_id;
+ packet1.start_stop = packet_in.start_stop;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_request_data_stream_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_request_data_stream_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_request_data_stream_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.req_stream_id , packet1.req_message_rate , packet1.start_stop );
+ mavlink_msg_request_data_stream_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_request_data_stream_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.req_stream_id , packet1.req_message_rate , packet1.start_stop );
+ mavlink_msg_request_data_stream_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_request_data_stream_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_request_data_stream_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.req_stream_id , packet1.req_message_rate , packet1.start_stop );
+ mavlink_msg_request_data_stream_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_data_stream(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_data_stream_t packet_in = {
+ 17235,
+ 139,
+ 206,
+ };
+ mavlink_data_stream_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.message_rate = packet_in.message_rate;
+ packet1.stream_id = packet_in.stream_id;
+ packet1.on_off = packet_in.on_off;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_data_stream_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_data_stream_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_data_stream_pack(system_id, component_id, &msg , packet1.stream_id , packet1.message_rate , packet1.on_off );
+ mavlink_msg_data_stream_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_data_stream_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.stream_id , packet1.message_rate , packet1.on_off );
+ mavlink_msg_data_stream_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_data_stream_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_data_stream_send(MAVLINK_COMM_1 , packet1.stream_id , packet1.message_rate , packet1.on_off );
+ mavlink_msg_data_stream_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_manual_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_manual_control_t packet_in = {
+ 17.0,
+ 45.0,
+ 73.0,
+ 101.0,
+ 53,
+ 120,
+ 187,
+ 254,
+ 65,
+ };
+ mavlink_manual_control_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.roll = packet_in.roll;
+ packet1.pitch = packet_in.pitch;
+ packet1.yaw = packet_in.yaw;
+ packet1.thrust = packet_in.thrust;
+ packet1.target = packet_in.target;
+ packet1.roll_manual = packet_in.roll_manual;
+ packet1.pitch_manual = packet_in.pitch_manual;
+ packet1.yaw_manual = packet_in.yaw_manual;
+ packet1.thrust_manual = packet_in.thrust_manual;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_manual_control_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_manual_control_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_manual_control_pack(system_id, component_id, &msg , packet1.target , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.roll_manual , packet1.pitch_manual , packet1.yaw_manual , packet1.thrust_manual );
+ mavlink_msg_manual_control_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_manual_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.roll_manual , packet1.pitch_manual , packet1.yaw_manual , packet1.thrust_manual );
+ mavlink_msg_manual_control_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_manual_control_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_manual_control_send(MAVLINK_COMM_1 , packet1.target , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.roll_manual , packet1.pitch_manual , packet1.yaw_manual , packet1.thrust_manual );
+ mavlink_msg_manual_control_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_rc_channels_override(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_rc_channels_override_t packet_in = {
+ 17235,
+ 17339,
+ 17443,
+ 17547,
+ 17651,
+ 17755,
+ 17859,
+ 17963,
+ 53,
+ 120,
+ };
+ mavlink_rc_channels_override_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.chan1_raw = packet_in.chan1_raw;
+ packet1.chan2_raw = packet_in.chan2_raw;
+ packet1.chan3_raw = packet_in.chan3_raw;
+ packet1.chan4_raw = packet_in.chan4_raw;
+ packet1.chan5_raw = packet_in.chan5_raw;
+ packet1.chan6_raw = packet_in.chan6_raw;
+ packet1.chan7_raw = packet_in.chan7_raw;
+ packet1.chan8_raw = packet_in.chan8_raw;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_rc_channels_override_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_rc_channels_override_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_rc_channels_override_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw );
+ mavlink_msg_rc_channels_override_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_rc_channels_override_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw );
+ mavlink_msg_rc_channels_override_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_rc_channels_override_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_rc_channels_override_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw );
+ mavlink_msg_rc_channels_override_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_vfr_hud(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_vfr_hud_t packet_in = {
+ 17.0,
+ 45.0,
+ 73.0,
+ 101.0,
+ 18067,
+ 18171,
+ };
+ mavlink_vfr_hud_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.airspeed = packet_in.airspeed;
+ packet1.groundspeed = packet_in.groundspeed;
+ packet1.alt = packet_in.alt;
+ packet1.climb = packet_in.climb;
+ packet1.heading = packet_in.heading;
+ packet1.throttle = packet_in.throttle;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_vfr_hud_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_vfr_hud_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_vfr_hud_pack(system_id, component_id, &msg , packet1.airspeed , packet1.groundspeed , packet1.heading , packet1.throttle , packet1.alt , packet1.climb );
+ mavlink_msg_vfr_hud_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_vfr_hud_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.airspeed , packet1.groundspeed , packet1.heading , packet1.throttle , packet1.alt , packet1.climb );
+ mavlink_msg_vfr_hud_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_vfr_hud_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_vfr_hud_send(MAVLINK_COMM_1 , packet1.airspeed , packet1.groundspeed , packet1.heading , packet1.throttle , packet1.alt , packet1.climb );
+ mavlink_msg_vfr_hud_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_command_long(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_command_long_t packet_in = {
+ 17.0,
+ 45.0,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 185.0,
+ 18691,
+ 223,
+ 34,
+ 101,
+ };
+ mavlink_command_long_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.param1 = packet_in.param1;
+ packet1.param2 = packet_in.param2;
+ packet1.param3 = packet_in.param3;
+ packet1.param4 = packet_in.param4;
+ packet1.param5 = packet_in.param5;
+ packet1.param6 = packet_in.param6;
+ packet1.param7 = packet_in.param7;
+ packet1.command = packet_in.command;
+ packet1.target_system = packet_in.target_system;
+ packet1.target_component = packet_in.target_component;
+ packet1.confirmation = packet_in.confirmation;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_command_long_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_command_long_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_command_long_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.command , packet1.confirmation , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.param5 , packet1.param6 , packet1.param7 );
+ mavlink_msg_command_long_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_command_long_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.command , packet1.confirmation , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.param5 , packet1.param6 , packet1.param7 );
+ mavlink_msg_command_long_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_command_long_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_command_long_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.command , packet1.confirmation , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.param5 , packet1.param6 , packet1.param7 );
+ mavlink_msg_command_long_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_command_ack(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_command_ack_t packet_in = {
+ 17235,
+ 139,
+ };
+ mavlink_command_ack_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.command = packet_in.command;
+ packet1.result = packet_in.result;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_command_ack_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_command_ack_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_command_ack_pack(system_id, component_id, &msg , packet1.command , packet1.result );
+ mavlink_msg_command_ack_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_command_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.command , packet1.result );
+ mavlink_msg_command_ack_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_command_ack_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_command_ack_send(MAVLINK_COMM_1 , packet1.command , packet1.result );
+ mavlink_msg_command_ack_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_local_position_ned_system_global_offset(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_local_position_ned_system_global_offset_t packet_in = {
+ 963497464,
+ 45.0,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 185.0,
+ };
+ mavlink_local_position_ned_system_global_offset_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_boot_ms = packet_in.time_boot_ms;
+ packet1.x = packet_in.x;
+ packet1.y = packet_in.y;
+ packet1.z = packet_in.z;
+ packet1.roll = packet_in.roll;
+ packet1.pitch = packet_in.pitch;
+ packet1.yaw = packet_in.yaw;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_local_position_ned_system_global_offset_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_local_position_ned_system_global_offset_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_local_position_ned_system_global_offset_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+ mavlink_msg_local_position_ned_system_global_offset_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_local_position_ned_system_global_offset_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+ mavlink_msg_local_position_ned_system_global_offset_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_local_position_ned_system_global_offset_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_local_position_ned_system_global_offset_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+ mavlink_msg_local_position_ned_system_global_offset_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_hil_state(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_hil_state_t packet_in = {
+ 93372036854775807ULL,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 185.0,
+ 213.0,
+ 963499128,
+ 963499336,
+ 963499544,
+ 19523,
+ 19627,
+ 19731,
+ 19835,
+ 19939,
+ 20043,
+ };
+ mavlink_hil_state_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_usec = packet_in.time_usec;
+ packet1.roll = packet_in.roll;
+ packet1.pitch = packet_in.pitch;
+ packet1.yaw = packet_in.yaw;
+ packet1.rollspeed = packet_in.rollspeed;
+ packet1.pitchspeed = packet_in.pitchspeed;
+ packet1.yawspeed = packet_in.yawspeed;
+ packet1.lat = packet_in.lat;
+ packet1.lon = packet_in.lon;
+ packet1.alt = packet_in.alt;
+ packet1.vx = packet_in.vx;
+ packet1.vy = packet_in.vy;
+ packet1.vz = packet_in.vz;
+ packet1.xacc = packet_in.xacc;
+ packet1.yacc = packet_in.yacc;
+ packet1.zacc = packet_in.zacc;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_hil_state_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_hil_state_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_hil_state_pack(system_id, component_id, &msg , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc );
+ mavlink_msg_hil_state_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_hil_state_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc );
+ mavlink_msg_hil_state_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_hil_state_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_hil_state_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc );
+ mavlink_msg_hil_state_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_hil_controls(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_hil_controls_t packet_in = {
+ 93372036854775807ULL,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 185.0,
+ 213.0,
+ 241.0,
+ 269.0,
+ 125,
+ 192,
+ };
+ mavlink_hil_controls_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_usec = packet_in.time_usec;
+ packet1.roll_ailerons = packet_in.roll_ailerons;
+ packet1.pitch_elevator = packet_in.pitch_elevator;
+ packet1.yaw_rudder = packet_in.yaw_rudder;
+ packet1.throttle = packet_in.throttle;
+ packet1.aux1 = packet_in.aux1;
+ packet1.aux2 = packet_in.aux2;
+ packet1.aux3 = packet_in.aux3;
+ packet1.aux4 = packet_in.aux4;
+ packet1.mode = packet_in.mode;
+ packet1.nav_mode = packet_in.nav_mode;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_hil_controls_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_hil_controls_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_hil_controls_pack(system_id, component_id, &msg , packet1.time_usec , packet1.roll_ailerons , packet1.pitch_elevator , packet1.yaw_rudder , packet1.throttle , packet1.aux1 , packet1.aux2 , packet1.aux3 , packet1.aux4 , packet1.mode , packet1.nav_mode );
+ mavlink_msg_hil_controls_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_hil_controls_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.roll_ailerons , packet1.pitch_elevator , packet1.yaw_rudder , packet1.throttle , packet1.aux1 , packet1.aux2 , packet1.aux3 , packet1.aux4 , packet1.mode , packet1.nav_mode );
+ mavlink_msg_hil_controls_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_hil_controls_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_hil_controls_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.roll_ailerons , packet1.pitch_elevator , packet1.yaw_rudder , packet1.throttle , packet1.aux1 , packet1.aux2 , packet1.aux3 , packet1.aux4 , packet1.mode , packet1.nav_mode );
+ mavlink_msg_hil_controls_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_hil_rc_inputs_raw(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_hil_rc_inputs_raw_t packet_in = {
+ 93372036854775807ULL,
+ 17651,
+ 17755,
+ 17859,
+ 17963,
+ 18067,
+ 18171,
+ 18275,
+ 18379,
+ 18483,
+ 18587,
+ 18691,
+ 18795,
+ 101,
+ };
+ mavlink_hil_rc_inputs_raw_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_usec = packet_in.time_usec;
+ packet1.chan1_raw = packet_in.chan1_raw;
+ packet1.chan2_raw = packet_in.chan2_raw;
+ packet1.chan3_raw = packet_in.chan3_raw;
+ packet1.chan4_raw = packet_in.chan4_raw;
+ packet1.chan5_raw = packet_in.chan5_raw;
+ packet1.chan6_raw = packet_in.chan6_raw;
+ packet1.chan7_raw = packet_in.chan7_raw;
+ packet1.chan8_raw = packet_in.chan8_raw;
+ packet1.chan9_raw = packet_in.chan9_raw;
+ packet1.chan10_raw = packet_in.chan10_raw;
+ packet1.chan11_raw = packet_in.chan11_raw;
+ packet1.chan12_raw = packet_in.chan12_raw;
+ packet1.rssi = packet_in.rssi;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_hil_rc_inputs_raw_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_hil_rc_inputs_raw_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_hil_rc_inputs_raw_pack(system_id, component_id, &msg , packet1.time_usec , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.rssi );
+ mavlink_msg_hil_rc_inputs_raw_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_hil_rc_inputs_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.rssi );
+ mavlink_msg_hil_rc_inputs_raw_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_hil_rc_inputs_raw_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_hil_rc_inputs_raw_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.rssi );
+ mavlink_msg_hil_rc_inputs_raw_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_optical_flow(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_optical_flow_t packet_in = {
+ 93372036854775807ULL,
+ 73.0,
+ 101.0,
+ 129.0,
+ 18275,
+ 18379,
+ 77,
+ 144,
+ };
+ mavlink_optical_flow_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_usec = packet_in.time_usec;
+ packet1.flow_comp_m_x = packet_in.flow_comp_m_x;
+ packet1.flow_comp_m_y = packet_in.flow_comp_m_y;
+ packet1.ground_distance = packet_in.ground_distance;
+ packet1.flow_x = packet_in.flow_x;
+ packet1.flow_y = packet_in.flow_y;
+ packet1.sensor_id = packet_in.sensor_id;
+ packet1.quality = packet_in.quality;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_optical_flow_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_optical_flow_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_optical_flow_pack(system_id, component_id, &msg , packet1.time_usec , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_distance );
+ mavlink_msg_optical_flow_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_optical_flow_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_distance );
+ mavlink_msg_optical_flow_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_optical_flow_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_optical_flow_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_distance );
+ mavlink_msg_optical_flow_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_global_vision_position_estimate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_global_vision_position_estimate_t packet_in = {
+ 93372036854775807ULL,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 185.0,
+ 213.0,
+ };
+ mavlink_global_vision_position_estimate_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.usec = packet_in.usec;
+ packet1.x = packet_in.x;
+ packet1.y = packet_in.y;
+ packet1.z = packet_in.z;
+ packet1.roll = packet_in.roll;
+ packet1.pitch = packet_in.pitch;
+ packet1.yaw = packet_in.yaw;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_global_vision_position_estimate_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_global_vision_position_estimate_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+ mavlink_msg_global_vision_position_estimate_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_global_vision_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+ mavlink_msg_global_vision_position_estimate_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_global_vision_position_estimate_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_global_vision_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+ mavlink_msg_global_vision_position_estimate_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_vision_position_estimate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_vision_position_estimate_t packet_in = {
+ 93372036854775807ULL,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 185.0,
+ 213.0,
+ };
+ mavlink_vision_position_estimate_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.usec = packet_in.usec;
+ packet1.x = packet_in.x;
+ packet1.y = packet_in.y;
+ packet1.z = packet_in.z;
+ packet1.roll = packet_in.roll;
+ packet1.pitch = packet_in.pitch;
+ packet1.yaw = packet_in.yaw;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_vision_position_estimate_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_vision_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+ mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_vision_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+ mavlink_msg_vision_position_estimate_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_vision_position_estimate_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_vision_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+ mavlink_msg_vision_position_estimate_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_vision_speed_estimate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_vision_speed_estimate_t packet_in = {
+ 93372036854775807ULL,
+ 73.0,
+ 101.0,
+ 129.0,
+ };
+ mavlink_vision_speed_estimate_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.usec = packet_in.usec;
+ packet1.x = packet_in.x;
+ packet1.y = packet_in.y;
+ packet1.z = packet_in.z;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_vision_speed_estimate_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_vision_speed_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z );
+ mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_vision_speed_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z );
+ mavlink_msg_vision_speed_estimate_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_vision_speed_estimate_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_vision_speed_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z );
+ mavlink_msg_vision_speed_estimate_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_vicon_position_estimate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_vicon_position_estimate_t packet_in = {
+ 93372036854775807ULL,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 185.0,
+ 213.0,
+ };
+ mavlink_vicon_position_estimate_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.usec = packet_in.usec;
+ packet1.x = packet_in.x;
+ packet1.y = packet_in.y;
+ packet1.z = packet_in.z;
+ packet1.roll = packet_in.roll;
+ packet1.pitch = packet_in.pitch;
+ packet1.yaw = packet_in.yaw;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_vicon_position_estimate_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_vicon_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+ mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_vicon_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+ mavlink_msg_vicon_position_estimate_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_vicon_position_estimate_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_vicon_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+ mavlink_msg_vicon_position_estimate_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_memory_vect(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_memory_vect_t packet_in = {
+ 17235,
+ 139,
+ 206,
+ { 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48 },
+ };
+ mavlink_memory_vect_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.address = packet_in.address;
+ packet1.ver = packet_in.ver;
+ packet1.type = packet_in.type;
+
+ mav_array_memcpy(packet1.value, packet_in.value, sizeof(int8_t)*32);
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_memory_vect_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_memory_vect_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_memory_vect_pack(system_id, component_id, &msg , packet1.address , packet1.ver , packet1.type , packet1.value );
+ mavlink_msg_memory_vect_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_memory_vect_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.address , packet1.ver , packet1.type , packet1.value );
+ mavlink_msg_memory_vect_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_memory_vect_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_memory_vect_send(MAVLINK_COMM_1 , packet1.address , packet1.ver , packet1.type , packet1.value );
+ mavlink_msg_memory_vect_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_debug_vect(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_debug_vect_t packet_in = {
+ 93372036854775807ULL,
+ 73.0,
+ 101.0,
+ 129.0,
+ "UVWXYZABC",
+ };
+ mavlink_debug_vect_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_usec = packet_in.time_usec;
+ packet1.x = packet_in.x;
+ packet1.y = packet_in.y;
+ packet1.z = packet_in.z;
+
+ mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*10);
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_debug_vect_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_debug_vect_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_debug_vect_pack(system_id, component_id, &msg , packet1.name , packet1.time_usec , packet1.x , packet1.y , packet1.z );
+ mavlink_msg_debug_vect_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_debug_vect_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.name , packet1.time_usec , packet1.x , packet1.y , packet1.z );
+ mavlink_msg_debug_vect_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_debug_vect_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_debug_vect_send(MAVLINK_COMM_1 , packet1.name , packet1.time_usec , packet1.x , packet1.y , packet1.z );
+ mavlink_msg_debug_vect_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_named_value_float(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_named_value_float_t packet_in = {
+ 963497464,
+ 45.0,
+ "IJKLMNOPQ",
+ };
+ mavlink_named_value_float_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_boot_ms = packet_in.time_boot_ms;
+ packet1.value = packet_in.value;
+
+ mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*10);
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_named_value_float_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_named_value_float_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_named_value_float_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.name , packet1.value );
+ mavlink_msg_named_value_float_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_named_value_float_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.name , packet1.value );
+ mavlink_msg_named_value_float_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_named_value_float_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_named_value_float_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.name , packet1.value );
+ mavlink_msg_named_value_float_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_named_value_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_named_value_int_t packet_in = {
+ 963497464,
+ 963497672,
+ "IJKLMNOPQ",
+ };
+ mavlink_named_value_int_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_boot_ms = packet_in.time_boot_ms;
+ packet1.value = packet_in.value;
+
+ mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*10);
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_named_value_int_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_named_value_int_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_named_value_int_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.name , packet1.value );
+ mavlink_msg_named_value_int_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_named_value_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.name , packet1.value );
+ mavlink_msg_named_value_int_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_named_value_int_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_named_value_int_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.name , packet1.value );
+ mavlink_msg_named_value_int_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_statustext(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_statustext_t packet_in = {
+ 5,
+ "BCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWX",
+ };
+ mavlink_statustext_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.severity = packet_in.severity;
+
+ mav_array_memcpy(packet1.text, packet_in.text, sizeof(char)*50);
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_statustext_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_statustext_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_statustext_pack(system_id, component_id, &msg , packet1.severity , packet1.text );
+ mavlink_msg_statustext_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_statustext_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.severity , packet1.text );
+ mavlink_msg_statustext_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_statustext_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_statustext_send(MAVLINK_COMM_1 , packet1.severity , packet1.text );
+ mavlink_msg_statustext_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_debug(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_debug_t packet_in = {
+ 963497464,
+ 45.0,
+ 29,
+ };
+ mavlink_debug_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.time_boot_ms = packet_in.time_boot_ms;
+ packet1.value = packet_in.value;
+ packet1.ind = packet_in.ind;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_debug_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_debug_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_debug_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.ind , packet1.value );
+ mavlink_msg_debug_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_debug_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.ind , packet1.value );
+ mavlink_msg_debug_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_debug_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_debug_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.ind , packet1.value );
+ mavlink_msg_debug_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);
+ mavlink_test_sys_status(system_id, component_id, last_msg);
+ mavlink_test_system_time(system_id, component_id, last_msg);
+ mavlink_test_ping(system_id, component_id, last_msg);
+ mavlink_test_change_operator_control(system_id, component_id, last_msg);
+ mavlink_test_change_operator_control_ack(system_id, component_id, last_msg);
+ mavlink_test_auth_key(system_id, component_id, last_msg);
+ mavlink_test_set_mode(system_id, component_id, last_msg);
+ mavlink_test_param_request_read(system_id, component_id, last_msg);
+ mavlink_test_param_request_list(system_id, component_id, last_msg);
+ mavlink_test_param_value(system_id, component_id, last_msg);
+ mavlink_test_param_set(system_id, component_id, last_msg);
+ mavlink_test_gps_raw_int(system_id, component_id, last_msg);
+ mavlink_test_gps_status(system_id, component_id, last_msg);
+ mavlink_test_scaled_imu(system_id, component_id, last_msg);
+ mavlink_test_raw_imu(system_id, component_id, last_msg);
+ mavlink_test_raw_pressure(system_id, component_id, last_msg);
+ mavlink_test_scaled_pressure(system_id, component_id, last_msg);
+ mavlink_test_attitude(system_id, component_id, last_msg);
+ mavlink_test_attitude_quaternion(system_id, component_id, last_msg);
+ mavlink_test_local_position_ned(system_id, component_id, last_msg);
+ mavlink_test_global_position_int(system_id, component_id, last_msg);
+ mavlink_test_rc_channels_scaled(system_id, component_id, last_msg);
+ mavlink_test_rc_channels_raw(system_id, component_id, last_msg);
+ mavlink_test_servo_output_raw(system_id, component_id, last_msg);
+ mavlink_test_mission_request_partial_list(system_id, component_id, last_msg);
+ mavlink_test_mission_write_partial_list(system_id, component_id, last_msg);
+ mavlink_test_mission_item(system_id, component_id, last_msg);
+ mavlink_test_mission_request(system_id, component_id, last_msg);
+ mavlink_test_mission_set_current(system_id, component_id, last_msg);
+ mavlink_test_mission_current(system_id, component_id, last_msg);
+ mavlink_test_mission_request_list(system_id, component_id, last_msg);
+ mavlink_test_mission_count(system_id, component_id, last_msg);
+ mavlink_test_mission_clear_all(system_id, component_id, last_msg);
+ mavlink_test_mission_item_reached(system_id, component_id, last_msg);
+ mavlink_test_mission_ack(system_id, component_id, last_msg);
+ mavlink_test_set_gps_global_origin(system_id, component_id, last_msg);
+ mavlink_test_gps_global_origin(system_id, component_id, last_msg);
+ mavlink_test_set_local_position_setpoint(system_id, component_id, last_msg);
+ mavlink_test_local_position_setpoint(system_id, component_id, last_msg);
+ mavlink_test_global_position_setpoint_int(system_id, component_id, last_msg);
+ mavlink_test_set_global_position_setpoint_int(system_id, component_id, last_msg);
+ mavlink_test_safety_set_allowed_area(system_id, component_id, last_msg);
+ mavlink_test_safety_allowed_area(system_id, component_id, last_msg);
+ mavlink_test_set_roll_pitch_yaw_thrust(system_id, component_id, last_msg);
+ mavlink_test_set_roll_pitch_yaw_speed_thrust(system_id, component_id, last_msg);
+ mavlink_test_roll_pitch_yaw_thrust_setpoint(system_id, component_id, last_msg);
+ mavlink_test_roll_pitch_yaw_speed_thrust_setpoint(system_id, component_id, last_msg);
+ mavlink_test_set_quad_motors_setpoint(system_id, component_id, last_msg);
+ mavlink_test_set_quad_swarm_roll_pitch_yaw_thrust(system_id, component_id, last_msg);
+ mavlink_test_nav_controller_output(system_id, component_id, last_msg);
+ mavlink_test_set_quad_swarm_led_roll_pitch_yaw_thrust(system_id, component_id, last_msg);
+ mavlink_test_state_correction(system_id, component_id, last_msg);
+ mavlink_test_request_data_stream(system_id, component_id, last_msg);
+ mavlink_test_data_stream(system_id, component_id, last_msg);
+ mavlink_test_manual_control(system_id, component_id, last_msg);
+ mavlink_test_rc_channels_override(system_id, component_id, last_msg);
+ mavlink_test_vfr_hud(system_id, component_id, last_msg);
+ mavlink_test_command_long(system_id, component_id, last_msg);
+ mavlink_test_command_ack(system_id, component_id, last_msg);
+ mavlink_test_local_position_ned_system_global_offset(system_id, component_id, last_msg);
+ mavlink_test_hil_state(system_id, component_id, last_msg);
+ mavlink_test_hil_controls(system_id, component_id, last_msg);
+ mavlink_test_hil_rc_inputs_raw(system_id, component_id, last_msg);
+ mavlink_test_optical_flow(system_id, component_id, last_msg);
+ mavlink_test_global_vision_position_estimate(system_id, component_id, last_msg);
+ mavlink_test_vision_position_estimate(system_id, component_id, last_msg);
+ mavlink_test_vision_speed_estimate(system_id, component_id, last_msg);
+ mavlink_test_vicon_position_estimate(system_id, component_id, last_msg);
+ mavlink_test_memory_vect(system_id, component_id, last_msg);
+ mavlink_test_debug_vect(system_id, component_id, last_msg);
+ mavlink_test_named_value_float(system_id, component_id, last_msg);
+ mavlink_test_named_value_int(system_id, component_id, last_msg);
+ mavlink_test_statustext(system_id, component_id, last_msg);
+ mavlink_test_debug(system_id, component_id, last_msg);
+}
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+#endif // COMMON_TESTSUITE_H
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
new file mode 100644
index 0000000..dea2550
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
@@ -0,0 +1,12 @@
+/** @file
+ * @brief MAVLink comm protocol built from common.xml
+ * @see http://pixhawk.ethz.ch/software/mavlink
+ */
+#ifndef MAVLINK_VERSION_H
+#define MAVLINK_VERSION_H
+
+#define MAVLINK_BUILD_DATE "Sat Aug 11 14:26:42 2012"
+#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
+
+#endif // MAVLINK_VERSION_H
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h
new file mode 100644
index 0000000..b53a5ee
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h
@@ -0,0 +1,525 @@
+#ifndef _MAVLINK_HELPERS_H_
+#define _MAVLINK_HELPERS_H_
+
+#include "string.h"
+#include "checksum.h"
+#include "mavlink_types.h"
+
+#ifndef MAVLINK_HELPER
+#define MAVLINK_HELPER
+#endif
+
+/*
+ internal function to give access to the channel status for each channel
+ */
+MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
+{
+ static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
+ return &m_mavlink_status[chan];
+}
+
+/*
+ internal function to give access to the channel buffer for each channel
+ */
+MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
+{
+
+#if MAVLINK_EXTERNAL_RX_BUFFER
+ // No m_mavlink_message array defined in function,
+ // has to be defined externally
+#ifndef m_mavlink_message
+#error ERROR: IF #define MAVLINK_EXTERNAL_RX_BUFFER IS SET, THE BUFFER HAS TO BE ALLOCATED OUTSIDE OF THIS FUNCTION (mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];)
+#endif
+#else
+ static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
+#endif
+ return &m_mavlink_buffer[chan];
+}
+
+/**
+ * @brief Finalize a MAVLink message with channel assignment
+ *
+ * This function calculates the checksum and sets length and aircraft id correctly.
+ * It assumes that the message id and the payload are already correctly set. This function
+ * can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack
+ * instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead.
+ *
+ * @param msg Message to finalize
+ * @param system_id Id of the sending (this) system, 1-127
+ * @param length Message length
+ */
+#if MAVLINK_CRC_EXTRA
+MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
+ uint8_t chan, uint8_t length, uint8_t crc_extra)
+#else
+MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
+ uint8_t chan, uint8_t length)
+#endif
+{
+ // This code part is the same for all messages;
+ uint16_t checksum;
+ msg->magic = MAVLINK_STX;
+ msg->len = length;
+ msg->sysid = system_id;
+ msg->compid = component_id;
+ // One sequence number per component
+ msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
+ mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
+ checksum = crc_calculate((uint8_t*)&msg->len, length + MAVLINK_CORE_HEADER_LEN);
+#if MAVLINK_CRC_EXTRA
+ crc_accumulate(crc_extra, &checksum);
+#endif
+ mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF);
+ mavlink_ck_b(msg) = (uint8_t)(checksum >> 8);
+
+ return length + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+}
+
+
+/**
+ * @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel
+ */
+#if MAVLINK_CRC_EXTRA
+MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
+ uint8_t length, uint8_t crc_extra)
+{
+ return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length, crc_extra);
+}
+#else
+MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
+ uint8_t length)
+{
+ return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length);
+}
+#endif
+
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
+
+/**
+ * @brief Finalize a MAVLink message with channel assignment and send
+ */
+#if MAVLINK_CRC_EXTRA
+MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet,
+ uint8_t length, uint8_t crc_extra)
+#else
+MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length)
+#endif
+{
+ uint16_t checksum;
+ uint8_t buf[MAVLINK_NUM_HEADER_BYTES];
+ uint8_t ck[2];
+ mavlink_status_t *status = mavlink_get_channel_status(chan);
+ buf[0] = MAVLINK_STX;
+ buf[1] = length;
+ buf[2] = status->current_tx_seq;
+ buf[3] = mavlink_system.sysid;
+ buf[4] = mavlink_system.compid;
+ buf[5] = msgid;
+ status->current_tx_seq++;
+ checksum = crc_calculate((uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN);
+ crc_accumulate_buffer(&checksum, packet, length);
+#if MAVLINK_CRC_EXTRA
+ crc_accumulate(crc_extra, &checksum);
+#endif
+ ck[0] = (uint8_t)(checksum & 0xFF);
+ ck[1] = (uint8_t)(checksum >> 8);
+
+ MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
+ _mavlink_send_uart(chan, (const char *)buf, MAVLINK_NUM_HEADER_BYTES);
+ _mavlink_send_uart(chan, packet, length);
+ _mavlink_send_uart(chan, (const char *)ck, 2);
+ MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
+}
+
+/**
+ * @brief re-send a message over a uart channel
+ * this is more stack efficient than re-marshalling the message
+ */
+MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg)
+{
+ uint8_t ck[2];
+
+ ck[0] = (uint8_t)(msg->checksum & 0xFF);
+ ck[1] = (uint8_t)(msg->checksum >> 8);
+
+ MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
+ _mavlink_send_uart(chan, (const char *)&msg->magic, MAVLINK_NUM_HEADER_BYTES);
+ _mavlink_send_uart(chan, _MAV_PAYLOAD(msg), msg->len);
+ _mavlink_send_uart(chan, (const char *)ck, 2);
+ MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
+}
+#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+/**
+ * @brief Pack a message to send it over a serial byte stream
+ */
+MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
+{
+ memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
+ return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
+}
+
+union __mavlink_bitfield {
+ uint8_t uint8;
+ int8_t int8;
+ uint16_t uint16;
+ int16_t int16;
+ uint32_t uint32;
+ int32_t int32;
+};
+
+
+MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg)
+{
+ crc_init(&msg->checksum);
+}
+
+MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
+{
+ crc_accumulate(c, &msg->checksum);
+}
+
+/**
+ * This is a convenience function which handles the complete MAVLink parsing.
+ * the function will parse one byte at a time and return the complete packet once
+ * it could be successfully decoded. Checksum and other failures will be silently
+ * ignored.
+ *
+ * @param chan ID of the current channel. This allows to parse different channels with this function.
+ * a channel is not a physical message channel like a serial port, but a logic partition of
+ * the communication streams in this case. COMM_NB is the limit for the number of channels
+ * on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
+ * @param c The char to barse
+ *
+ * @param returnMsg NULL if no message could be decoded, the message data else
+ * @return 0 if no message could be decoded, 1 else
+ *
+ * A typical use scenario of this function call is:
+ *
+ * @code
+ * #include <inttypes.h> // For fixed-width uint8_t type
+ *
+ * mavlink_message_t msg;
+ * int chan = 0;
+ *
+ *
+ * while(serial.bytesAvailable > 0)
+ * {
+ * uint8_t byte = serial.getNextByte();
+ * if (mavlink_parse_char(chan, byte, &msg))
+ * {
+ * printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
+ * }
+ * }
+ *
+ *
+ * @endcode
+ */
+MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
+{
+ /*
+ default message crc function. You can override this per-system to
+ put this data in a different memory segment
+ */
+#if MAVLINK_CRC_EXTRA
+#ifndef MAVLINK_MESSAGE_CRC
+ static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
+#define MAVLINK_MESSAGE_CRC(msgid) mavlink_message_crcs[msgid]
+#endif
+#endif
+
+ mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan); ///< The currently decoded message
+ mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
+ int bufferIndex = 0;
+
+ status->msg_received = 0;
+
+ switch (status->parse_state)
+ {
+ case MAVLINK_PARSE_STATE_UNINIT:
+ case MAVLINK_PARSE_STATE_IDLE:
+ if (c == MAVLINK_STX)
+ {
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
+ rxmsg->len = 0;
+ rxmsg->magic = c;
+ mavlink_start_checksum(rxmsg);
+ }
+ break;
+
+ case MAVLINK_PARSE_STATE_GOT_STX:
+ if (status->msg_received
+/* Support shorter buffers than the
+ default maximum packet size */
+#if (MAVLINK_MAX_PAYLOAD_LEN < 255)
+ || c > MAVLINK_MAX_PAYLOAD_LEN
+#endif
+ )
+ {
+ status->buffer_overrun++;
+ status->parse_error++;
+ status->msg_received = 0;
+ status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+ }
+ else
+ {
+ // NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2
+ rxmsg->len = c;
+ status->packet_idx = 0;
+ mavlink_update_checksum(rxmsg, c);
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH;
+ }
+ break;
+
+ case MAVLINK_PARSE_STATE_GOT_LENGTH:
+ rxmsg->seq = c;
+ mavlink_update_checksum(rxmsg, c);
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ;
+ break;
+
+ case MAVLINK_PARSE_STATE_GOT_SEQ:
+ rxmsg->sysid = c;
+ mavlink_update_checksum(rxmsg, c);
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID;
+ break;
+
+ case MAVLINK_PARSE_STATE_GOT_SYSID:
+ rxmsg->compid = c;
+ mavlink_update_checksum(rxmsg, c);
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID;
+ break;
+
+ case MAVLINK_PARSE_STATE_GOT_COMPID:
+ rxmsg->msgid = c;
+ mavlink_update_checksum(rxmsg, c);
+ if (rxmsg->len == 0)
+ {
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
+ }
+ else
+ {
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID;
+ }
+ break;
+
+ case MAVLINK_PARSE_STATE_GOT_MSGID:
+ _MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx++] = (char)c;
+ mavlink_update_checksum(rxmsg, c);
+ if (status->packet_idx == rxmsg->len)
+ {
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
+ }
+ break;
+
+ case MAVLINK_PARSE_STATE_GOT_PAYLOAD:
+#if MAVLINK_CRC_EXTRA
+ mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid));
+#endif
+ if (c != (rxmsg->checksum & 0xFF)) {
+ // Check first checksum byte
+ status->parse_error++;
+ status->msg_received = 0;
+ status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+ if (c == MAVLINK_STX)
+ {
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
+ rxmsg->len = 0;
+ mavlink_start_checksum(rxmsg);
+ }
+ }
+ else
+ {
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
+ _MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
+ }
+ break;
+
+ case MAVLINK_PARSE_STATE_GOT_CRC1:
+ if (c != (rxmsg->checksum >> 8)) {
+ // Check second checksum byte
+ status->parse_error++;
+ status->msg_received = 0;
+ status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+ if (c == MAVLINK_STX)
+ {
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
+ rxmsg->len = 0;
+ mavlink_start_checksum(rxmsg);
+ }
+ }
+ else
+ {
+ // Successfully got message
+ status->msg_received = 1;
+ status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+ _MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx+1] = (char)c;
+ memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
+ }
+ break;
+ }
+
+ bufferIndex++;
+ // If a message has been sucessfully decoded, check index
+ if (status->msg_received == 1)
+ {
+ //while(status->current_seq != rxmsg->seq)
+ //{
+ // status->packet_rx_drop_count++;
+ // status->current_seq++;
+ //}
+ status->current_rx_seq = rxmsg->seq;
+ // Initial condition: If no packet has been received so far, drop count is undefined
+ if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
+ // Count this packet as received
+ status->packet_rx_success_count++;
+ }
+
+ r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
+ r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
+ r_mavlink_status->packet_rx_drop_count = status->parse_error;
+ status->parse_error = 0;
+ return status->msg_received;
+}
+
+/**
+ * @brief Put a bitfield of length 1-32 bit into the buffer
+ *
+ * @param b the value to add, will be encoded in the bitfield
+ * @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc.
+ * @param packet_index the position in the packet (the index of the first byte to use)
+ * @param bit_index the position in the byte (the index of the first bit to use)
+ * @param buffer packet buffer to write into
+ * @return new position of the last used byte in the buffer
+ */
+MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer)
+{
+ uint16_t bits_remain = bits;
+ // Transform number into network order
+ int32_t v;
+ uint8_t i_bit_index, i_byte_index, curr_bits_n;
+#if MAVLINK_NEED_BYTE_SWAP
+ union {
+ int32_t i;
+ uint8_t b[4];
+ } bin, bout;
+ bin.i = b;
+ bout.b[0] = bin.b[3];
+ bout.b[1] = bin.b[2];
+ bout.b[2] = bin.b[1];
+ bout.b[3] = bin.b[0];
+ v = bout.i;
+#else
+ v = b;
+#endif
+
+ // buffer in
+ // 01100000 01000000 00000000 11110001
+ // buffer out
+ // 11110001 00000000 01000000 01100000
+
+ // Existing partly filled byte (four free slots)
+ // 0111xxxx
+
+ // Mask n free bits
+ // 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1
+ // = ((uint32_t)(1 << n)) - 1; // = 2^n - 1
+
+ // Shift n bits into the right position
+ // out = in >> n;
+
+ // Mask and shift bytes
+ i_bit_index = bit_index;
+ i_byte_index = packet_index;
+ if (bit_index > 0)
+ {
+ // If bits were available at start, they were available
+ // in the byte before the current index
+ i_byte_index--;
+ }
+
+ // While bits have not been packed yet
+ while (bits_remain > 0)
+ {
+ // Bits still have to be packed
+ // there can be more than 8 bits, so
+ // we might have to pack them into more than one byte
+
+ // First pack everything we can into the current 'open' byte
+ //curr_bits_n = bits_remain << 3; // Equals bits_remain mod 8
+ //FIXME
+ if (bits_remain <= (uint8_t)(8 - i_bit_index))
+ {
+ // Enough space
+ curr_bits_n = (uint8_t)bits_remain;
+ }
+ else
+ {
+ curr_bits_n = (8 - i_bit_index);
+ }
+
+ // Pack these n bits into the current byte
+ // Mask out whatever was at that position with ones (xxx11111)
+ buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n));
+ // Put content to this position, by masking out the non-used part
+ buffer[i_byte_index] |= ((0x00 << curr_bits_n) & v);
+
+ // Increment the bit index
+ i_bit_index += curr_bits_n;
+
+ // Now proceed to the next byte, if necessary
+ bits_remain -= curr_bits_n;
+ if (bits_remain > 0)
+ {
+ // Offer another 8 bits / one byte
+ i_byte_index++;
+ i_bit_index = 0;
+ }
+ }
+
+ *r_bit_index = i_bit_index;
+ // If a partly filled byte is present, mark this as consumed
+ if (i_bit_index != 7) i_byte_index++;
+ return i_byte_index - packet_index;
+}
+
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// To make MAVLink work on your MCU, define comm_send_ch() if you wish
+// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a
+// whole packet at a time
+
+/*
+
+#include "mavlink_types.h"
+
+void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
+{
+ if (chan == MAVLINK_COMM_0)
+ {
+ uart0_transmit(ch);
+ }
+ if (chan == MAVLINK_COMM_1)
+ {
+ uart1_transmit(ch);
+ }
+}
+ */
+
+MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len)
+{
+#ifdef MAVLINK_SEND_UART_BYTES
+ /* this is the more efficient approach, if the platform
+ defines it */
+ MAVLINK_SEND_UART_BYTES(chan, (uint8_t *)buf, len);
+#else
+ /* fallback to one byte at a time */
+ uint16_t i;
+ for (i = 0; i < len; i++) {
+ comm_send_ch(chan, (uint8_t)buf[i]);
+ }
+#endif
+}
+#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+#endif /* _MAVLINK_HELPERS_H_ */
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_protobuf_manager.hpp b/libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_protobuf_manager.hpp
new file mode 100644
index 0000000..fd3ddd0
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_protobuf_manager.hpp
@@ -0,0 +1,377 @@
+#ifndef MAVLINKPROTOBUFMANAGER_HPP
+#define MAVLINKPROTOBUFMANAGER_HPP
+
+#include <deque>
+#include <google/protobuf/message.h>
+#include <iostream>
+#include <tr1/memory>
+
+#include <checksum.h>
+#include <common/mavlink.h>
+#include <mavlink_types.h>
+#include <pixhawk/pixhawk.pb.h>
+
+namespace mavlink
+{
+
+class ProtobufManager
+{
+public:
+ ProtobufManager()
+ : mRegisteredTypeCount(0)
+ , mStreamID(0)
+ , mVerbose(false)
+ , kExtendedHeaderSize(MAVLINK_EXTENDED_HEADER_LEN)
+ , kExtendedPayloadMaxSize(MAVLINK_MAX_EXTENDED_PAYLOAD_LEN)
+ {
+ // register GLOverlay
+ {
+ std::tr1::shared_ptr<px::GLOverlay> msg(new px::GLOverlay);
+ registerType(msg);
+ }
+
+ // register ObstacleList
+ {
+ std::tr1::shared_ptr<px::ObstacleList> msg(new px::ObstacleList);
+ registerType(msg);
+ }
+
+ // register ObstacleMap
+ {
+ std::tr1::shared_ptr<px::ObstacleMap> msg(new px::ObstacleMap);
+ registerType(msg);
+ }
+
+ // register Path
+ {
+ std::tr1::shared_ptr<px::Path> msg(new px::Path);
+ registerType(msg);
+ }
+
+ // register PointCloudXYZI
+ {
+ std::tr1::shared_ptr<px::PointCloudXYZI> msg(new px::PointCloudXYZI);
+ registerType(msg);
+ }
+
+ // register PointCloudXYZRGB
+ {
+ std::tr1::shared_ptr<px::PointCloudXYZRGB> msg(new px::PointCloudXYZRGB);
+ registerType(msg);
+ }
+
+ // register RGBDImage
+ {
+ std::tr1::shared_ptr<px::RGBDImage> msg(new px::RGBDImage);
+ registerType(msg);
+ }
+
+ srand(time(NULL));
+ mStreamID = rand() + 1;
+ }
+
+ bool fragmentMessage(uint8_t system_id, uint8_t component_id,
+ uint8_t target_system, uint8_t target_component,
+ const google::protobuf::Message& protobuf_msg,
+ std::vector<mavlink_extended_message_t>& fragments) const
+ {
+ TypeMap::const_iterator it = mTypeMap.find(protobuf_msg.GetTypeName());
+ if (it == mTypeMap.end())
+ {
+ std::cout << "# WARNING: Protobuf message with type "
+ << protobuf_msg.GetTypeName() << " is not registered."
+ << std::endl;
+ return false;
+ }
+
+ uint8_t typecode = it->second;
+
+ std::string data = protobuf_msg.SerializeAsString();
+
+ int fragmentCount = (protobuf_msg.ByteSize() + kExtendedPayloadMaxSize - 1) / kExtendedPayloadMaxSize;
+ unsigned int offset = 0;
+
+ for (int i = 0; i < fragmentCount; ++i)
+ {
+ mavlink_extended_message_t fragment;
+
+ // write extended header data
+ uint8_t* payload = reinterpret_cast<uint8_t*>(fragment.base_msg.payload64);
+ unsigned int length = 0;
+ uint8_t flags = 0;
+
+ if (i < fragmentCount - 1)
+ {
+ length = kExtendedPayloadMaxSize;
+ flags |= 0x1;
+ }
+ else
+ {
+ length = protobuf_msg.ByteSize() - kExtendedPayloadMaxSize * (fragmentCount - 1);
+ }
+
+ memcpy(payload, &target_system, 1);
+ memcpy(payload + 1, &target_component, 1);
+ memcpy(payload + 2, &typecode, 1);
+ memcpy(payload + 3, &length, 4);
+ memcpy(payload + 7, &mStreamID, 2);
+ memcpy(payload + 9, &offset, 4);
+ memcpy(payload + 13, &flags, 1);
+
+ fragment.base_msg.msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE;
+ mavlink_finalize_message(&fragment.base_msg, system_id, component_id, kExtendedHeaderSize, 0);
+
+ // write extended payload data
+ fragment.extended_payload_len = length;
+ memcpy(fragment.extended_payload, &data[offset], length);
+
+ fragments.push_back(fragment);
+ offset += length;
+ }
+
+ if (mVerbose)
+ {
+ std::cerr << "# INFO: Split extended message with size "
+ << protobuf_msg.ByteSize() << " into "
+ << fragmentCount << " fragments." << std::endl;
+ }
+
+ return true;
+ }
+
+ bool cacheFragment(mavlink_extended_message_t& msg)
+ {
+ if (!validFragment(msg))
+ {
+ if (mVerbose)
+ {
+ std::cerr << "# WARNING: Message is not a valid fragment. "
+ << "Dropping message..." << std::endl;
+ }
+ return false;
+ }
+
+ // read extended header
+ uint8_t* payload = reinterpret_cast<uint8_t*>(msg.base_msg.payload64);
+ uint8_t typecode = 0;
+ unsigned int length = 0;
+ unsigned short streamID = 0;
+ unsigned int offset = 0;
+ uint8_t flags = 0;
+
+ memcpy(&typecode, payload + 2, 1);
+ memcpy(&length, payload + 3, 4);
+ memcpy(&streamID, payload + 7, 2);
+ memcpy(&offset, payload + 9, 4);
+ memcpy(&flags, payload + 13, 1);
+
+ if (typecode >= mTypeMap.size())
+ {
+ std::cout << "# WARNING: Protobuf message with type code "
+ << static_cast<int>(typecode) << " is not registered." << std::endl;
+ return false;
+ }
+
+ bool reassemble = false;
+
+ FragmentQueue::iterator it = mFragmentQueue.find(streamID);
+ if (it == mFragmentQueue.end())
+ {
+ if (offset == 0)
+ {
+ mFragmentQueue[streamID].push_back(msg);
+
+ if ((flags & 0x1) != 0x1)
+ {
+ reassemble = true;
+ }
+
+ if (mVerbose)
+ {
+ std::cerr << "# INFO: Added fragment to new queue."
+ << std::endl;
+ }
+ }
+ else
+ {
+ if (mVerbose)
+ {
+ std::cerr << "# WARNING: Message is not a valid fragment. "
+ << "Dropping message..." << std::endl;
+ }
+ }
+ }
+ else
+ {
+ std::deque<mavlink_extended_message_t>& queue = it->second;
+
+ if (queue.empty())
+ {
+ if (offset == 0)
+ {
+ queue.push_back(msg);
+
+ if ((flags & 0x1) != 0x1)
+ {
+ reassemble = true;
+ }
+ }
+ else
+ {
+ if (mVerbose)
+ {
+ std::cerr << "# WARNING: Message is not a valid fragment. "
+ << "Dropping message..." << std::endl;
+ }
+ }
+ }
+ else
+ {
+ if (fragmentDataSize(queue.back()) + fragmentOffset(queue.back()) != offset)
+ {
+ if (mVerbose)
+ {
+ std::cerr << "# WARNING: Previous fragment(s) have been lost. "
+ << "Dropping message and clearing queue..." << std::endl;
+ }
+ queue.clear();
+ }
+ else
+ {
+ queue.push_back(msg);
+
+ if ((flags & 0x1) != 0x1)
+ {
+ reassemble = true;
+ }
+ }
+ }
+ }
+
+ if (reassemble)
+ {
+ std::deque<mavlink_extended_message_t>& queue = mFragmentQueue[streamID];
+
+ std::string data;
+ for (size_t i = 0; i < queue.size(); ++i)
+ {
+ mavlink_extended_message_t& mavlink_msg = queue.at(i);
+
+ data.append(reinterpret_cast<char*>(&mavlink_msg.extended_payload[0]),
+ static_cast<size_t>(mavlink_msg.extended_payload_len));
+ }
+
+ mMessages.at(typecode)->ParseFromString(data);
+
+ mMessageAvailable.at(typecode) = true;
+
+ queue.clear();
+
+ if (mVerbose)
+ {
+ std::cerr << "# INFO: Reassembled fragments for message with typename "
+ << mMessages.at(typecode)->GetTypeName() << " and size "
+ << mMessages.at(typecode)->ByteSize()
+ << "." << std::endl;
+ }
+ }
+
+ return true;
+ }
+
+ bool getMessage(std::tr1::shared_ptr<google::protobuf::Message>& msg)
+ {
+ for (size_t i = 0; i < mMessageAvailable.size(); ++i)
+ {
+ if (mMessageAvailable.at(i))
+ {
+ msg = mMessages.at(i);
+ mMessageAvailable.at(i) = false;
+
+ return true;
+ }
+ }
+
+ return false;
+ }
+
+private:
+ void registerType(const std::tr1::shared_ptr<google::protobuf::Message>& msg)
+ {
+ mTypeMap[msg->GetTypeName()] = mRegisteredTypeCount;
+ ++mRegisteredTypeCount;
+ mMessages.push_back(msg);
+ mMessageAvailable.push_back(false);
+ }
+
+ bool validFragment(const mavlink_extended_message_t& msg) const
+ {
+ if (msg.base_msg.magic != MAVLINK_STX ||
+ msg.base_msg.len != kExtendedHeaderSize ||
+ msg.base_msg.msgid != MAVLINK_MSG_ID_EXTENDED_MESSAGE)
+ {
+ return false;
+ }
+
+ uint16_t checksum;
+ checksum = crc_calculate(reinterpret_cast<const uint8_t*>(&msg.base_msg.len), MAVLINK_CORE_HEADER_LEN);
+ crc_accumulate_buffer(&checksum, reinterpret_cast<const char*>(&msg.base_msg.payload64), kExtendedHeaderSize);
+#if MAVLINK_CRC_EXTRA
+ static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
+ crc_accumulate(mavlink_message_crcs[msg.base_msg.msgid], &checksum);
+#endif
+
+ if (mavlink_ck_a(&(msg.base_msg)) != (uint8_t)(checksum & 0xFF) &&
+ mavlink_ck_b(&(msg.base_msg)) != (uint8_t)(checksum >> 8))
+ {
+ return false;
+ }
+
+ return true;
+ }
+
+ unsigned int fragmentDataSize(const mavlink_extended_message_t& msg) const
+ {
+ const uint8_t* payload = reinterpret_cast<const uint8_t*>(msg.base_msg.payload64);
+
+ return *(reinterpret_cast<const unsigned int*>(payload + 3));
+ }
+
+ unsigned int fragmentOffset(const mavlink_extended_message_t& msg) const
+ {
+ const uint8_t* payload = reinterpret_cast<const uint8_t*>(msg.base_msg.payload64);
+
+ return *(reinterpret_cast<const unsigned int*>(payload + 9));
+ }
+
+ int mRegisteredTypeCount;
+ unsigned short mStreamID;
+ bool mVerbose;
+
+ typedef std::map<std::string, uint8_t> TypeMap;
+ TypeMap mTypeMap;
+ std::vector< std::tr1::shared_ptr<google::protobuf::Message> > mMessages;
+ std::vector<bool> mMessageAvailable;
+
+ typedef std::map<unsigned short, std::deque<mavlink_extended_message_t> > FragmentQueue;
+ FragmentQueue mFragmentQueue;
+
+ const int kExtendedHeaderSize;
+ /**
+ * Extended header structure
+ * =========================
+ * byte 0 - target_system
+ * byte 1 - target_component
+ * byte 2 - extended message id (type code)
+ * bytes 3-6 - extended payload size in bytes
+ * byte 7-8 - stream ID
+ * byte 9-12 - fragment offset
+ * byte 13 - fragment flags (bit 0 - 1=more fragments, 0=last fragment)
+ */
+
+ const int kExtendedPayloadMaxSize;
+};
+
+}
+
+#endif
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_types.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_types.h
new file mode 100644
index 0000000..5fbde97
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_types.h
@@ -0,0 +1,158 @@
+#ifndef MAVLINK_TYPES_H_
+#define MAVLINK_TYPES_H_
+
+#include <inttypes.h>
+
+#ifndef MAVLINK_MAX_PAYLOAD_LEN
+// it is possible to override this, but be careful!
+#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
+#endif
+
+#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
+#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
+#define MAVLINK_NUM_CHECKSUM_BYTES 2
+#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
+
+#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
+
+#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
+#define MAVLINK_EXTENDED_HEADER_LEN 14
+
+#if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__)
+ /* full fledged 32bit++ OS */
+ #define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
+#else
+ /* small microcontrollers */
+ #define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
+#endif
+
+#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
+
+typedef struct param_union {
+ union {
+ float param_float;
+ int32_t param_int32;
+ uint32_t param_uint32;
+ uint8_t param_uint8;
+ uint8_t bytes[4];
+ };
+ uint8_t type;
+} mavlink_param_union_t;
+
+typedef struct __mavlink_system {
+ uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function
+ uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function
+ uint8_t type; ///< Unused, can be used by user to store the system's type
+ uint8_t state; ///< Unused, can be used by user to store the system's state
+ uint8_t mode; ///< Unused, can be used by user to store the system's mode
+ uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode
+} mavlink_system_t;
+
+typedef struct __mavlink_message {
+ uint16_t checksum; /// sent at end of packet
+ uint8_t magic; ///< protocol magic marker
+ uint8_t len; ///< Length of payload
+ uint8_t seq; ///< Sequence of packet
+ uint8_t sysid; ///< ID of message sender system/aircraft
+ uint8_t compid; ///< ID of the message sender component
+ uint8_t msgid; ///< ID of message in payload
+ uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
+} mavlink_message_t;
+
+
+typedef struct __mavlink_extended_message {
+ mavlink_message_t base_msg;
+ int32_t extended_payload_len; ///< Length of extended payload if any
+ uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
+} mavlink_extended_message_t;
+
+
+typedef enum {
+ MAVLINK_TYPE_CHAR = 0,
+ MAVLINK_TYPE_UINT8_T = 1,
+ MAVLINK_TYPE_INT8_T = 2,
+ MAVLINK_TYPE_UINT16_T = 3,
+ MAVLINK_TYPE_INT16_T = 4,
+ MAVLINK_TYPE_UINT32_T = 5,
+ MAVLINK_TYPE_INT32_T = 6,
+ MAVLINK_TYPE_UINT64_T = 7,
+ MAVLINK_TYPE_INT64_T = 8,
+ MAVLINK_TYPE_FLOAT = 9,
+ MAVLINK_TYPE_DOUBLE = 10
+} mavlink_message_type_t;
+
+#define MAVLINK_MAX_FIELDS 64
+
+typedef struct __mavlink_field_info {
+ const char *name; // name of this field
+ const char *print_format; // printing format hint, or NULL
+ mavlink_message_type_t type; // type of this field
+ unsigned int array_length; // if non-zero, field is an array
+ unsigned int wire_offset; // offset of each field in the payload
+ unsigned int structure_offset; // offset in a C structure
+} mavlink_field_info_t;
+
+// note that in this structure the order of fields is the order
+// in the XML file, not necessary the wire order
+typedef struct __mavlink_message_info {
+ const char *name; // name of the message
+ unsigned num_fields; // how many fields in this message
+ mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
+} mavlink_message_info_t;
+
+#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
+#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
+
+// checksum is immediately after the payload bytes
+#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
+#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
+
+typedef enum {
+ MAVLINK_COMM_0,
+ MAVLINK_COMM_1,
+ MAVLINK_COMM_2,
+ MAVLINK_COMM_3
+} mavlink_channel_t;
+
+/*
+ * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
+ * of buffers they will use. If more are used, then the result will be
+ * a stack overrun
+ */
+#ifndef MAVLINK_COMM_NUM_BUFFERS
+#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
+# define MAVLINK_COMM_NUM_BUFFERS 16
+#else
+# define MAVLINK_COMM_NUM_BUFFERS 4
+#endif
+#endif
+
+typedef enum {
+ MAVLINK_PARSE_STATE_UNINIT=0,
+ MAVLINK_PARSE_STATE_IDLE,
+ MAVLINK_PARSE_STATE_GOT_STX,
+ MAVLINK_PARSE_STATE_GOT_SEQ,
+ MAVLINK_PARSE_STATE_GOT_LENGTH,
+ MAVLINK_PARSE_STATE_GOT_SYSID,
+ MAVLINK_PARSE_STATE_GOT_COMPID,
+ MAVLINK_PARSE_STATE_GOT_MSGID,
+ MAVLINK_PARSE_STATE_GOT_PAYLOAD,
+ MAVLINK_PARSE_STATE_GOT_CRC1
+} mavlink_parse_state_t; ///< The state machine for the comm parser
+
+typedef struct __mavlink_status {
+ uint8_t msg_received; ///< Number of received messages
+ uint8_t buffer_overrun; ///< Number of buffer overruns
+ uint8_t parse_error; ///< Number of parse errors
+ mavlink_parse_state_t parse_state; ///< Parsing state machine
+ uint8_t packet_idx; ///< Index in current packet
+ uint8_t current_rx_seq; ///< Sequence number of last packet received
+ uint8_t current_tx_seq; ///< Sequence number of last packet sent
+ uint16_t packet_rx_success_count; ///< Received packets
+ uint16_t packet_rx_drop_count; ///< Number of packet drops
+} mavlink_status_t;
+
+#define MAVLINK_BIG_ENDIAN 0
+#define MAVLINK_LITTLE_ENDIAN 1
+
+#endif /* MAVLINK_TYPES_H_ */
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/protocol.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/protocol.h
new file mode 100644
index 0000000..19b2733
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/protocol.h
@@ -0,0 +1,325 @@
+#ifndef _MAVLINK_PROTOCOL_H_
+#define _MAVLINK_PROTOCOL_H_
+
+#include "string.h"
+#include "mavlink_types.h"
+
+/*
+ If you want MAVLink on a system that is native big-endian,
+ you need to define NATIVE_BIG_ENDIAN
+*/
+//#define NATIVE_BIG_ENDIAN 1
+
+#ifdef NATIVE_BIG_ENDIAN
+# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN)
+#else
+# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)
+#endif
+
+#ifndef MAVLINK_STACK_BUFFER
+#define MAVLINK_STACK_BUFFER 0
+#endif
+
+#ifndef MAVLINK_AVOID_GCC_STACK_BUG
+# define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__)
+#endif
+
+#ifndef MAVLINK_ASSERT
+#define MAVLINK_ASSERT(x)
+#endif
+
+#ifndef MAVLINK_START_UART_SEND
+#define MAVLINK_START_UART_SEND(chan, length)
+#endif
+
+#ifndef MAVLINK_END_UART_SEND
+#define MAVLINK_END_UART_SEND(chan, length)
+#endif
+
+#ifdef MAVLINK_SEPARATE_HELPERS
+#define MAVLINK_HELPER
+#else
+#define MAVLINK_HELPER static inline
+#include "mavlink_helpers.h"
+#endif // MAVLINK_SEPARATE_HELPERS
+
+/* always include the prototypes to ensure we don't get out of sync */
+MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
+#if MAVLINK_CRC_EXTRA
+MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
+ uint8_t chan, uint8_t length, uint8_t crc_extra);
+MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
+ uint8_t length, uint8_t crc_extra);
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet,
+ uint8_t length, uint8_t crc_extra);
+#endif
+#else
+MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
+ uint8_t chan, uint8_t length);
+MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
+ uint8_t length);
+MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length);
+#endif // MAVLINK_CRC_EXTRA
+MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
+MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
+MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
+MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
+MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index,
+ uint8_t* r_bit_index, uint8_t* buffer);
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
+MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg);
+#endif
+
+/**
+ * @brief Get the required buffer size for this message
+ */
+static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
+{
+ return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+}
+
+#if MAVLINK_NEED_BYTE_SWAP
+static inline void byte_swap_2(char *dst, const char *src)
+{
+ dst[0] = src[1];
+ dst[1] = src[0];
+}
+static inline void byte_swap_4(char *dst, const char *src)
+{
+ dst[0] = src[3];
+ dst[1] = src[2];
+ dst[2] = src[1];
+ dst[3] = src[0];
+}
+static inline void byte_swap_8(char *dst, const char *src)
+{
+ dst[0] = src[7];
+ dst[1] = src[6];
+ dst[2] = src[5];
+ dst[3] = src[4];
+ dst[4] = src[3];
+ dst[5] = src[2];
+ dst[6] = src[1];
+ dst[7] = src[0];
+}
+#elif !MAVLINK_ALIGNED_FIELDS
+static inline void byte_copy_2(char *dst, const char *src)
+{
+ dst[0] = src[0];
+ dst[1] = src[1];
+}
+static inline void byte_copy_4(char *dst, const char *src)
+{
+ dst[0] = src[0];
+ dst[1] = src[1];
+ dst[2] = src[2];
+ dst[3] = src[3];
+}
+static inline void byte_copy_8(char *dst, const char *src)
+{
+ memcpy(dst, src, 8);
+}
+#endif
+
+#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b
+#define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b
+#define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b
+
+#if MAVLINK_NEED_BYTE_SWAP
+#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
+#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
+#define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
+#elif !MAVLINK_ALIGNED_FIELDS
+#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
+#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
+#define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
+#else
+#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b
+#define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b
+#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b
+#define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b
+#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b
+#define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b
+#define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b
+#define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b
+#endif
+
+/*
+ like memcpy(), but if src is NULL, do a memset to zero
+*/
+static void mav_array_memcpy(void *dest, const void *src, size_t n)
+{
+ if (src == NULL) {
+ memset(dest, 0, n);
+ } else {
+ memcpy(dest, src, n);
+ }
+}
+
+/*
+ * Place a char array into a buffer
+ */
+static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
+{
+ mav_array_memcpy(&buf[wire_offset], b, array_length);
+
+}
+
+/*
+ * Place a uint8_t array into a buffer
+ */
+static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
+{
+ mav_array_memcpy(&buf[wire_offset], b, array_length);
+
+}
+
+/*
+ * Place a int8_t array into a buffer
+ */
+static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
+{
+ mav_array_memcpy(&buf[wire_offset], b, array_length);
+
+}
+
+#if MAVLINK_NEED_BYTE_SWAP
+#define _MAV_PUT_ARRAY(TYPE, V) \
+static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
+{ \
+ if (b == NULL) { \
+ memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
+ } else { \
+ uint16_t i; \
+ for (i=0; i<array_length; i++) { \
+ _mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \
+ } \
+ } \
+}
+#else
+#define _MAV_PUT_ARRAY(TYPE, V) \
+static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
+{ \
+ mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
+}
+#endif
+
+_MAV_PUT_ARRAY(uint16_t, u16)
+_MAV_PUT_ARRAY(uint32_t, u32)
+_MAV_PUT_ARRAY(uint64_t, u64)
+_MAV_PUT_ARRAY(int16_t, i16)
+_MAV_PUT_ARRAY(int32_t, i32)
+_MAV_PUT_ARRAY(int64_t, i64)
+_MAV_PUT_ARRAY(float, f)
+_MAV_PUT_ARRAY(double, d)
+
+#define _MAV_RETURN_char(msg, wire_offset) (const char)_MAV_PAYLOAD(msg)[wire_offset]
+#define _MAV_RETURN_int8_t(msg, wire_offset) (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]
+#define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
+
+#if MAVLINK_NEED_BYTE_SWAP
+#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
+static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
+{ TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
+
+_MAV_MSG_RETURN_TYPE(uint16_t, 2)
+_MAV_MSG_RETURN_TYPE(int16_t, 2)
+_MAV_MSG_RETURN_TYPE(uint32_t, 4)
+_MAV_MSG_RETURN_TYPE(int32_t, 4)
+_MAV_MSG_RETURN_TYPE(uint64_t, 8)
+_MAV_MSG_RETURN_TYPE(int64_t, 8)
+_MAV_MSG_RETURN_TYPE(float, 4)
+_MAV_MSG_RETURN_TYPE(double, 8)
+
+#elif !MAVLINK_ALIGNED_FIELDS
+#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
+static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
+{ TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
+
+_MAV_MSG_RETURN_TYPE(uint16_t, 2)
+_MAV_MSG_RETURN_TYPE(int16_t, 2)
+_MAV_MSG_RETURN_TYPE(uint32_t, 4)
+_MAV_MSG_RETURN_TYPE(int32_t, 4)
+_MAV_MSG_RETURN_TYPE(uint64_t, 8)
+_MAV_MSG_RETURN_TYPE(int64_t, 8)
+_MAV_MSG_RETURN_TYPE(float, 4)
+_MAV_MSG_RETURN_TYPE(double, 8)
+#else // nicely aligned, no swap
+#define _MAV_MSG_RETURN_TYPE(TYPE) \
+static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
+{ return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);}
+
+_MAV_MSG_RETURN_TYPE(uint16_t)
+_MAV_MSG_RETURN_TYPE(int16_t)
+_MAV_MSG_RETURN_TYPE(uint32_t)
+_MAV_MSG_RETURN_TYPE(int32_t)
+_MAV_MSG_RETURN_TYPE(uint64_t)
+_MAV_MSG_RETURN_TYPE(int64_t)
+_MAV_MSG_RETURN_TYPE(float)
+_MAV_MSG_RETURN_TYPE(double)
+#endif // MAVLINK_NEED_BYTE_SWAP
+
+static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value,
+ uint8_t array_length, uint8_t wire_offset)
+{
+ memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
+ return array_length;
+}
+
+static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value,
+ uint8_t array_length, uint8_t wire_offset)
+{
+ memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
+ return array_length;
+}
+
+static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value,
+ uint8_t array_length, uint8_t wire_offset)
+{
+ memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
+ return array_length;
+}
+
+#if MAVLINK_NEED_BYTE_SWAP
+#define _MAV_RETURN_ARRAY(TYPE, V) \
+static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
+ uint8_t array_length, uint8_t wire_offset) \
+{ \
+ uint16_t i; \
+ for (i=0; i<array_length; i++) { \
+ value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \
+ } \
+ return array_length*sizeof(value[0]); \
+}
+#else
+#define _MAV_RETURN_ARRAY(TYPE, V) \
+static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
+ uint8_t array_length, uint8_t wire_offset) \
+{ \
+ memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \
+ return array_length*sizeof(TYPE); \
+}
+#endif
+
+_MAV_RETURN_ARRAY(uint16_t, u16)
+_MAV_RETURN_ARRAY(uint32_t, u32)
+_MAV_RETURN_ARRAY(uint64_t, u64)
+_MAV_RETURN_ARRAY(int16_t, i16)
+_MAV_RETURN_ARRAY(int32_t, i32)
+_MAV_RETURN_ARRAY(int64_t, i64)
+_MAV_RETURN_ARRAY(float, f)
+_MAV_RETURN_ARRAY(double, d)
+
+#endif // _MAVLINK_PROTOCOL_H_
diff --git a/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml b/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
new file mode 100644
index 0000000..134b7e5
--- /dev/null
+++ b/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
@@ -0,0 +1,312 @@
+<?xml version='1.0'?>
+<mavlink>
+ <include>common.xml</include>
+ <!-- note that APM specific messages should use the command id
+ range from 150 to 250, to leave plenty of room for growth
+ of common.xml
+
+ If you prototype a message here, then you should consider if it
+ is general enough to move into common.xml later
+ -->
+
+ <enums>
+ <!-- Camera Mount mode Enumeration -->
+ <enum name="MAV_MOUNT_MODE">
+ <description>Enumeration of possible mount operation modes</description>
+ <entry name="MAV_MOUNT_MODE_RETRACT" value="0"><description>Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization</description></entry>
+ <entry name="MAV_MOUNT_MODE_NEUTRAL" value="1"><description>Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM.</description></entry>
+ <entry name="MAV_MOUNT_MODE_MAVLINK_TARGETING" value="2"><description>Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization</description></entry>
+ <entry name="MAV_MOUNT_MODE_RC_TARGETING" value="3"><description>Load neutral position and start RC Roll,Pitch,Yaw control with stabilization</description></entry>
+ <entry name="MAV_MOUNT_MODE_GPS_POINT" value="4"><description>Load neutral position and start to point to Lat,Lon,Alt</description></entry>
+ </enum>
+
+ <enum name="MAV_CMD" >
+ <!-- Camera Controller Mission Commands Enumeration -->
+ <entry name="MAV_CMD_DO_DIGICAM_CONFIGURE" value="202">
+ <description>Mission command to configure an on-board camera controller system.</description>
+ <param index="1">Modes: P, TV, AV, M, Etc</param>
+ <param index="2">Shutter speed: Divisor number for one second</param>
+ <param index="3">Aperture: F stop number</param>
+ <param index="4">ISO number e.g. 80, 100, 200, Etc</param>
+ <param index="5">Exposure type enumerator</param>
+ <param index="6">Command Identity</param>
+ <param index="7">Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)</param>
+ </entry>
+
+ <entry name="MAV_CMD_DO_DIGICAM_CONTROL" value="203">
+ <description>Mission command to control an on-board camera controller system.</description>
+ <param index="1">Session control e.g. show/hide lens</param>
+ <param index="2">Zoom's absolute position</param>
+ <param index="3">Zooming step value to offset zoom from the current position</param>
+ <param index="4">Focus Locking, Unlocking or Re-locking</param>
+ <param index="5">Shooting Command</param>
+ <param index="6">Command Identity</param>
+ <param index="7">Empty</param>
+ </entry>
+
+ <!-- Camera Mount Mission Commands Enumeration -->
+ <entry name="MAV_CMD_DO_MOUNT_CONFIGURE" value="204">
+ <description>Mission command to configure a camera or antenna mount</description>
+ <param index="1">Mount operation mode (see MAV_MOUNT_MODE enum)</param>
+ <param index="2">stabilize roll? (1 = yes, 0 = no)</param>
+ <param index="3">stabilize pitch? (1 = yes, 0 = no)</param>
+ <param index="4">stabilize yaw? (1 = yes, 0 = no)</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+
+ <entry name="MAV_CMD_DO_MOUNT_CONTROL" value="205">
+ <description>Mission command to control a camera or antenna mount</description>
+ <param index="1">pitch(deg*100) or lat, depending on mount mode.</param>
+ <param index="2">roll(deg*100) or lon depending on mount mode</param>
+ <param index="3">yaw(deg*100) or alt (in cm) depending on mount mode</param>
+ <param index="4">Empty</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ </enum>
+
+ <!-- fenced mode enums -->
+ <enum name="FENCE_ACTION">
+ <entry name="FENCE_ACTION_NONE" value="0">
+ <description>Disable fenced mode</description>
+ </entry>
+ <entry name="FENCE_ACTION_GUIDED" value="1">
+ <description>Switched to guided mode to return point (fence point 0)</description>
+ </entry>
+ </enum>
+
+ <enum name="FENCE_BREACH">
+ <entry name="FENCE_BREACH_NONE" value="0">
+ <description>No last fence breach</description>
+ </entry>
+ <entry name="FENCE_BREACH_MINALT" value="1">
+ <description>Breached minimum altitude</description>
+ </entry>
+ <entry name="FENCE_BREACH_MAXALT" value="2">
+ <description>Breached minimum altitude</description>
+ </entry>
+ <entry name="FENCE_BREACH_BOUNDARY" value="3">
+ <description>Breached fence boundary</description>
+ </entry>
+ </enum>
+
+ <!-- AP_Limits Enums -->
+ <enum name="LIMITS_STATE">
+ <entry name="LIMITS_INIT" value="0"> <description> pre-initialization</description></entry>
+ <entry name="LIMITS_DISABLED" value="1"> <description> disabled</description></entry>
+ <entry name="LIMITS_ENABLED" value="2"> <description> checking limits</description></entry>
+ <entry name="LIMITS_TRIGGERED" value="3"> <description> a limit has been breached</description></entry>
+ <entry name="LIMITS_RECOVERING" value="4"> <description> taking action eg. RTL</description></entry>
+ <entry name="LIMITS_RECOVERED" value="5"> <description> we're no longer in breach of a limit</description></entry>
+ </enum>
+
+ <!-- AP_Limits Modules - power of 2 (1,2,4,8,16,32 etc) so we can send as bitfield -->
+ <enum name="LIMIT_MODULE">
+ <entry name="LIMIT_GPSLOCK" value="1"> <description> pre-initialization</description></entry>
+ <entry name="LIMIT_GEOFENCE" value="2"> <description> disabled</description></entry>
+ <entry name="LIMIT_ALTITUDE" value="4"> <description> checking limits</description></entry>
+ </enum>
+ </enums>
+
+ <messages>
+ <message id="150" name="SENSOR_OFFSETS">
+ <description>Offsets and calibrations values for hardware
+ sensors. This makes it easier to debug the calibration process.</description>
+ <field type="int16_t" name="mag_ofs_x">magnetometer X offset</field>
+ <field type="int16_t" name="mag_ofs_y">magnetometer Y offset</field>
+ <field type="int16_t" name="mag_ofs_z">magnetometer Z offset</field>
+ <field type="float" name="mag_declination">magnetic declination (radians)</field>
+ <field type="int32_t" name="raw_press">raw pressure from barometer</field>
+ <field type="int32_t" name="raw_temp">raw temperature from barometer</field>
+ <field type="float" name="gyro_cal_x">gyro X calibration</field>
+ <field type="float" name="gyro_cal_y">gyro Y calibration</field>
+ <field type="float" name="gyro_cal_z">gyro Z calibration</field>
+ <field type="float" name="accel_cal_x">accel X calibration</field>
+ <field type="float" name="accel_cal_y">accel Y calibration</field>
+ <field type="float" name="accel_cal_z">accel Z calibration</field>
+ </message>
+
+ <message id="151" name="SET_MAG_OFFSETS">
+ <description>set the magnetometer offsets</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ <field type="int16_t" name="mag_ofs_x">magnetometer X offset</field>
+ <field type="int16_t" name="mag_ofs_y">magnetometer Y offset</field>
+ <field type="int16_t" name="mag_ofs_z">magnetometer Z offset</field>
+ </message>
+
+ <message id="152" name="MEMINFO">
+ <description>state of APM memory</description>
+ <field type="uint16_t" name="brkval">heap top</field>
+ <field type="uint16_t" name="freemem">free memory</field>
+ </message>
+
+ <message id="153" name="AP_ADC">
+ <description>raw ADC output</description>
+ <field type="uint16_t" name="adc1">ADC output 1</field>
+ <field type="uint16_t" name="adc2">ADC output 2</field>
+ <field type="uint16_t" name="adc3">ADC output 3</field>
+ <field type="uint16_t" name="adc4">ADC output 4</field>
+ <field type="uint16_t" name="adc5">ADC output 5</field>
+ <field type="uint16_t" name="adc6">ADC output 6</field>
+ </message>
+
+ <!-- Camera Controller Messages -->
+ <message name="DIGICAM_CONFIGURE" id="154">
+ <description>Configure on-board Camera Control System.</description>
+ <field name="target_system" type="uint8_t">System ID</field>
+ <field name="target_component" type="uint8_t">Component ID</field>
+ <field name="mode" type="uint8_t">Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)</field>
+ <field name="shutter_speed" type="uint16_t">Divisor number //e.g. 1000 means 1/1000 (0 means ignore)</field>
+ <field name="aperture" type="uint8_t">F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)</field>
+ <field name="iso" type="uint8_t">ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)</field>
+ <field name="exposure_type" type="uint8_t">Exposure type enumeration from 1 to N (0 means ignore)</field>
+ <field name="command_id" type="uint8_t">Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once</field>
+ <field name="engine_cut_off" type="uint8_t">Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)</field>
+ <field name="extra_param" type="uint8_t">Extra parameters enumeration (0 means ignore)</field>
+ <field name="extra_value" type="float">Correspondent value to given extra_param</field>
+ </message>
+
+ <message name="DIGICAM_CONTROL" id="155">
+ <description>Control on-board Camera Control System to take shots.</description>
+ <field name="target_system" type="uint8_t">System ID</field>
+ <field name="target_component" type="uint8_t">Component ID</field>
+ <field name="session" type="uint8_t">0: stop, 1: start or keep it up //Session control e.g. show/hide lens</field>
+ <field name="zoom_pos" type="uint8_t">1 to N //Zoom's absolute position (0 means ignore)</field>
+ <field name="zoom_step" type="int8_t">-100 to 100 //Zooming step value to offset zoom from the current position</field>
+ <field name="focus_lock" type="uint8_t">0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus</field>
+ <field name="shot" type="uint8_t">0: ignore, 1: shot or start filming</field>
+ <field name="command_id" type="uint8_t">Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once</field>
+ <field name="extra_param" type="uint8_t">Extra parameters enumeration (0 means ignore)</field>
+ <field name="extra_value" type="float">Correspondent value to given extra_param</field>
+ </message>
+
+ <!-- Camera Mount Messages -->
+ <message name="MOUNT_CONFIGURE" id="156">
+ <description>Message to configure a camera mount, directional antenna, etc.</description>
+ <field name="target_system" type="uint8_t">System ID</field>
+ <field name="target_component" type="uint8_t">Component ID</field>
+ <field name="mount_mode" type="uint8_t">mount operating mode (see MAV_MOUNT_MODE enum)</field>
+ <field name="stab_roll" type="uint8_t">(1 = yes, 0 = no)</field>
+ <field name="stab_pitch" type="uint8_t">(1 = yes, 0 = no)</field>
+ <field name="stab_yaw" type="uint8_t">(1 = yes, 0 = no)</field>
+ </message>
+
+ <message name="MOUNT_CONTROL" id="157">
+ <description>Message to control a camera mount, directional antenna, etc.</description>
+ <field name="target_system" type="uint8_t">System ID</field>
+ <field name="target_component" type="uint8_t">Component ID</field>
+ <field name="input_a" type="int32_t">pitch(deg*100) or lat, depending on mount mode</field>
+ <field name="input_b" type="int32_t">roll(deg*100) or lon depending on mount mode</field>
+ <field name="input_c" type="int32_t">yaw(deg*100) or alt (in cm) depending on mount mode</field>
+ <field name="save_position" type="uint8_t">if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)</field>
+ </message>
+
+ <message name="MOUNT_STATUS" id="158">
+ <description>Message with some status from APM to GCS about camera or antenna mount</description>
+ <field name="target_system" type="uint8_t">System ID</field>
+ <field name="target_component" type="uint8_t">Component ID</field>
+ <field name="pointing_a" type="int32_t">pitch(deg*100) or lat, depending on mount mode</field>
+ <field name="pointing_b" type="int32_t">roll(deg*100) or lon depending on mount mode</field>
+ <field name="pointing_c" type="int32_t">yaw(deg*100) or alt (in cm) depending on mount mode</field>
+ </message>
+
+ <!-- geo-fence messages -->
+ <message name="FENCE_POINT" id="160">
+ <description>A fence point. Used to set a point when from
+ GCS -> MAV. Also used to return a point from MAV -> GCS</description>
+ <field name="target_system" type="uint8_t">System ID</field>
+ <field name="target_component" type="uint8_t">Component ID</field>
+ <field name="idx" type="uint8_t">point index (first point is 1, 0 is for return point)</field>
+ <field name="count" type="uint8_t">total number of points (for sanity checking)</field>
+ <field name="lat" type="float">Latitude of point</field>
+ <field name="lng" type="float">Longitude of point</field>
+ </message>
+
+ <message name="FENCE_FETCH_POINT" id="161">
+ <description>Request a current fence point from MAV</description>
+ <field name="target_system" type="uint8_t">System ID</field>
+ <field name="target_component" type="uint8_t">Component ID</field>
+ <field name="idx" type="uint8_t">point index (first point is 1, 0 is for return point)</field>
+ </message>
+
+ <message name="FENCE_STATUS" id="162">
+ <description>Status of geo-fencing. Sent in extended
+ status stream when fencing enabled</description>
+ <field name="breach_status" type="uint8_t">0 if currently inside fence, 1 if outside</field>
+ <field name="breach_count" type="uint16_t">number of fence breaches</field>
+ <field name="breach_type" type="uint8_t">last breach type (see FENCE_BREACH_* enum)</field>
+ <field name="breach_time" type="uint32_t">time of last breach in milliseconds since boot</field>
+ </message>
+
+ <message name="AHRS" id="163">
+ <description>Status of DCM attitude estimator</description>
+ <field type="float" name="omegaIx">X gyro drift estimate rad/s</field>
+ <field type="float" name="omegaIy">Y gyro drift estimate rad/s</field>
+ <field type="float" name="omegaIz">Z gyro drift estimate rad/s</field>
+ <field type="float" name="accel_weight">average accel_weight</field>
+ <field type="float" name="renorm_val">average renormalisation value</field>
+ <field type="float" name="error_rp">average error_roll_pitch value</field>
+ <field type="float" name="error_yaw">average error_yaw value</field>
+ </message>
+
+ <message name="SIMSTATE" id="164">
+ <description>Status of simulation environment, if used</description>
+ <field type="float" name="roll">Roll angle (rad)</field>
+ <field type="float" name="pitch">Pitch angle (rad)</field>
+ <field type="float" name="yaw">Yaw angle (rad)</field>
+ <field type="float" name="xacc">X acceleration m/s/s</field>
+ <field type="float" name="yacc">Y acceleration m/s/s</field>
+ <field type="float" name="zacc">Z acceleration m/s/s</field>
+ <field type="float" name="xgyro">Angular speed around X axis rad/s</field>
+ <field type="float" name="ygyro">Angular speed around Y axis rad/s</field>
+ <field type="float" name="zgyro">Angular speed around Z axis rad/s</field>
+ <field type="float" name="lat">Latitude in degrees</field>
+ <field type="float" name="lng">Longitude in degrees</field>
+ </message>
+
+ <message name="HWSTATUS" id="165">
+ <description>Status of key hardware</description>
+ <field type="uint16_t" name="Vcc">board voltage (mV)</field>
+ <field type="uint8_t" name="I2Cerr">I2C error count</field>
+ </message>
+
+ <message name="RADIO" id="166">
+ <description>Status generated by radio</description>
+ <field type="uint8_t" name="rssi">local signal strength</field>
+ <field type="uint8_t" name="remrssi">remote signal strength</field>
+ <field type="uint8_t" name="txbuf">how full the tx buffer is as a percentage</field>
+ <field type="uint8_t" name="noise">background noise level</field>
+ <field type="uint8_t" name="remnoise">remote background noise level</field>
+ <field type="uint16_t" name="rxerrors">receive errors</field>
+ <field type="uint16_t" name="fixed">count of error corrected packets</field>
+ </message>
+
+ <!-- AP_Limits status -->
+
+ <message name="LIMITS_STATUS" id="167">
+ <description>Status of AP_Limits. Sent in extended
+ status stream when AP_Limits is enabled</description>
+ <field name="limits_state" type="uint8_t">state of AP_Limits, (see enum LimitState, LIMITS_STATE)</field>
+ <field name="last_trigger" type="uint32_t">time of last breach in milliseconds since boot</field>
+ <field name="last_action" type="uint32_t">time of last recovery action in milliseconds since boot</field>
+ <field name="last_recovery" type="uint32_t">time of last successful recovery in milliseconds since boot</field>
+ <field name="last_clear" type="uint32_t">time of last all-clear in milliseconds since boot</field>
+ <field name="breach_count" type="uint16_t">number of fence breaches</field>
+ <field name="mods_enabled" type="uint8_t">AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)</field>
+ <field name="mods_required" type="uint8_t">AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)</field>
+ <field name="mods_triggered" type="uint8_t">AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)</field>
+ </message>
+
+ <message name="WIND" id="168">
+ <description>Wind estimation</description>
+ <field type="float" name="direction">wind direction (degrees)</field>
+ <field type="float" name="speed">wind speed in ground plane (m/s)</field>
+ <field type="float" name="speed_z">vertical wind speed (m/s)</field>
+ </message>
+
+ </messages>
+</mavlink>
diff --git a/libraries/GCS_MAVLink/message_definitions/common.xml b/libraries/GCS_MAVLink/message_definitions/common.xml
new file mode 100644
index 0000000..2a052f0
--- /dev/null
+++ b/libraries/GCS_MAVLink/message_definitions/common.xml
@@ -0,0 +1,1547 @@
+<?xml version='1.0'?>
+<mavlink>
+ <version>3</version>
+ <enums>
+ <enum name="MAV_AUTOPILOT">
+ <description>Micro air vehicle / autopilot classes. This identifies the individual model.</description>
+ <entry value="0" name="MAV_AUTOPILOT_GENERIC">
+ <description>Generic autopilot, full support for everything</description>
+ </entry>
+ <entry value="1" name="MAV_AUTOPILOT_PIXHAWK">
+ <description>PIXHAWK autopilot, http://pixhawk.ethz.ch</description>
+ </entry>
+ <entry value="2" name="MAV_AUTOPILOT_SLUGS">
+ <description>SLUGS autopilot, http://slugsuav.soe.ucsc.edu</description>
+ </entry>
+ <entry value="3" name="MAV_AUTOPILOT_ARDUPILOTMEGA">
+ <description>ArduPilotMega / ArduCopter, http://diydrones.com</description>
+ </entry>
+ <entry value="4" name="MAV_AUTOPILOT_OPENPILOT">
+ <description>OpenPilot, http://openpilot.org</description>
+ </entry>
+ <entry value="5" name="MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY">
+ <description>Generic autopilot only supporting simple waypoints</description>
+ </entry>
+ <entry value="6" name="MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY">
+ <description>Generic autopilot supporting waypoints and other simple navigation commands</description>
+ </entry>
+ <entry value="7" name="MAV_AUTOPILOT_GENERIC_MISSION_FULL">
+ <description>Generic autopilot supporting the full mission command set</description>
+ </entry>
+ <entry value="8" name="MAV_AUTOPILOT_INVALID">
+ <description>No valid autopilot, e.g. a GCS or other MAVLink component</description>
+ </entry>
+ <entry value="9" name="MAV_AUTOPILOT_PPZ">
+ <description>PPZ UAV - http://nongnu.org/paparazzi</description>
+ </entry>
+ <entry value="10" name="MAV_AUTOPILOT_UDB">
+ <description>UAV Dev Board</description>
+ </entry>
+ <entry value="11" name="MAV_AUTOPILOT_FP">
+ <description>FlexiPilot</description>
+ </entry>
+ </enum>
+ <enum name="MAV_TYPE">
+ <entry value="0" name="MAV_TYPE_GENERIC">
+ <description>Generic micro air vehicle.</description>
+ </entry>
+ <entry value="1" name="MAV_TYPE_FIXED_WING">
+ <description>Fixed wing aircraft.</description>
+ </entry>
+ <entry value="2" name="MAV_TYPE_QUADROTOR">
+ <description>Quadrotor</description>
+ </entry>
+ <entry value="3" name="MAV_TYPE_COAXIAL">
+ <description>Coaxial helicopter</description>
+ </entry>
+ <entry value="4" name="MAV_TYPE_HELICOPTER">
+ <description>Normal helicopter with tail rotor.</description>
+ </entry>
+ <entry value="5" name="MAV_TYPE_ANTENNA_TRACKER">
+ <description>Ground installation</description>
+ </entry>
+ <entry value="6" name="MAV_TYPE_GCS">
+ <description>Operator control unit / ground control station</description>
+ </entry>
+ <entry value="7" name="MAV_TYPE_AIRSHIP">
+ <description>Airship, controlled</description>
+ </entry>
+ <entry value="8" name="MAV_TYPE_FREE_BALLOON">
+ <description>Free balloon, uncontrolled</description>
+ </entry>
+ <entry value="9" name="MAV_TYPE_ROCKET">
+ <description>Rocket</description>
+ </entry>
+ <entry value="10" name="MAV_TYPE_GROUND_ROVER">
+ <description>Ground rover</description>
+ </entry>
+ <entry value="11" name="MAV_TYPE_SURFACE_BOAT">
+ <description>Surface vessel, boat, ship</description>
+ </entry>
+ <entry value="12" name="MAV_TYPE_SUBMARINE">
+ <description>Submarine</description>
+ </entry>
+ <entry value="13" name="MAV_TYPE_HEXAROTOR">
+ <description>Hexarotor</description>
+ </entry>
+ <entry value="14" name="MAV_TYPE_OCTOROTOR">
+ <description>Octorotor</description>
+ </entry>
+ <entry value="15" name="MAV_TYPE_TRICOPTER">
+ <description>Octorotor</description>
+ </entry>
+ <entry value="16" name="MAV_TYPE_FLAPPING_WING">
+ <description>Flapping wing</description>
+ </entry>
+ <entry value="17" name="MAV_TYPE_KITE">
+ <description>Flapping wing</description>
+ </entry>
+ </enum>
+ <!-- WARNING: MAV_ACTION Enum is no longer supported - has been removed. Please use MAV_CMD -->
+ <enum name="MAV_MODE_FLAG">
+ <description>These flags encode the MAV mode.</description>
+ <entry value="128" name="MAV_MODE_FLAG_SAFETY_ARMED">
+ <description>0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly.</description>
+ </entry>
+ <entry value="64" name="MAV_MODE_FLAG_MANUAL_INPUT_ENABLED">
+ <description>0b01000000 remote control input is enabled.</description>
+ </entry>
+ <entry value="32" name="MAV_MODE_FLAG_HIL_ENABLED">
+ <description>0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.</description>
+ </entry>
+ <entry value="16" name="MAV_MODE_FLAG_STABILIZE_ENABLED">
+ <description>0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.</description>
+ </entry>
+ <entry value="8" name="MAV_MODE_FLAG_GUIDED_ENABLED">
+ <description>0b00001000 guided mode enabled, system flies MISSIONs / mission items.</description>
+ </entry>
+ <entry value="4" name="MAV_MODE_FLAG_AUTO_ENABLED">
+ <description>0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.</description>
+ </entry>
+ <entry value="2" name="MAV_MODE_FLAG_TEST_ENABLED">
+ <description>0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.</description>
+ </entry>
+ <entry value="1" name="MAV_MODE_FLAG_CUSTOM_MODE_ENABLED">
+ <description>0b00000001 Reserved for future use.</description>
+ </entry>
+ </enum>
+ <enum name="MAV_MODE_FLAG_DECODE_POSITION">
+ <description>These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.</description>
+ <entry value="128" name="MAV_MODE_FLAG_DECODE_POSITION_SAFETY">
+ <description>First bit: 10000000</description>
+ </entry>
+ <entry value="64" name="MAV_MODE_FLAG_DECODE_POSITION_MANUAL">
+ <description>Second bit: 01000000</description>
+ </entry>
+ <entry value="32" name="MAV_MODE_FLAG_DECODE_POSITION_HIL">
+ <description>Third bit: 00100000</description>
+ </entry>
+ <entry value="16" name="MAV_MODE_FLAG_DECODE_POSITION_STABILIZE">
+ <description>Fourth bit: 00010000</description>
+ </entry>
+ <entry value="8" name="MAV_MODE_FLAG_DECODE_POSITION_GUIDED">
+ <description>Fifth bit: 00001000</description>
+ </entry>
+ <entry value="4" name="MAV_MODE_FLAG_DECODE_POSITION_AUTO">
+ <description>Sixt bit: 00000100</description>
+ </entry>
+ <entry value="2" name="MAV_MODE_FLAG_DECODE_POSITION_TEST">
+ <description>Seventh bit: 00000010</description>
+ </entry>
+ <entry value="1" name="MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE">
+ <description>Eighth bit: 00000001</description>
+ </entry>
+ </enum>
+ <enum name="MAV_GOTO">
+ <description>Override command, pauses current mission execution and moves immediately to a position</description>
+ <entry value="0" name="MAV_GOTO_DO_HOLD">
+ <description>Hold at the current position.</description>
+ </entry>
+ <entry value="1" name="MAV_GOTO_DO_CONTINUE">
+ <description>Continue with the next item in mission execution.</description>
+ </entry>
+ <entry value="2" name="MAV_GOTO_HOLD_AT_CURRENT_POSITION">
+ <description>Hold at the current position of the system</description>
+ </entry>
+ <entry value="3" name="MAV_GOTO_HOLD_AT_SPECIFIED_POSITION">
+ <description>Hold at the position specified in the parameters of the DO_HOLD action</description>
+ </entry>
+ </enum>
+ <enum name="MAV_MODE">
+ <description>These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it
+ simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.</description>
+ <entry value="0" name="MAV_MODE_PREFLIGHT">
+ <description>System is not ready to fly, booting, calibrating, etc. No flag is set.</description>
+ </entry>
+ <entry value="80" name="MAV_MODE_STABILIZE_DISARMED">
+ <description>System is allowed to be active, under assisted RC control.</description>
+ </entry>
+ <entry value="208" name="MAV_MODE_STABILIZE_ARMED">
+ <description>System is allowed to be active, under assisted RC control.</description>
+ </entry>
+ <entry value="64" name="MAV_MODE_MANUAL_DISARMED">
+ <description>System is allowed to be active, under manual (RC) control, no stabilization</description>
+ </entry>
+ <entry value="192" name="MAV_MODE_MANUAL_ARMED">
+ <description>System is allowed to be active, under manual (RC) control, no stabilization</description>
+ </entry>
+ <entry value="88" name="MAV_MODE_GUIDED_DISARMED">
+ <description>System is allowed to be active, under autonomous control, manual setpoint</description>
+ </entry>
+ <entry value="216" name="MAV_MODE_GUIDED_ARMED">
+ <description>System is allowed to be active, under autonomous control, manual setpoint</description>
+ </entry>
+ <entry value="92" name="MAV_MODE_AUTO_DISARMED">
+ <description>System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs)</description>
+ </entry>
+ <entry value="220" name="MAV_MODE_AUTO_ARMED">
+ <description>System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs)</description>
+ </entry>
+ <entry value="66" name="MAV_MODE_TEST_DISARMED">
+ <description>UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.</description>
+ </entry>
+ <entry value="194" name="MAV_MODE_TEST_ARMED">
+ <description>UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.</description>
+ </entry>
+ </enum>
+ <enum name="MAV_STATE">
+ <entry value="0" name="MAV_STATE_UNINIT">
+ <description>Uninitialized system, state is unknown.</description>
+ </entry>
+ <entry name="MAV_STATE_BOOT">
+ <description>System is booting up.</description>
+ </entry>
+ <entry name="MAV_STATE_CALIBRATING">
+ <description>System is calibrating and not flight-ready.</description>
+ </entry>
+ <entry name="MAV_STATE_STANDBY">
+ <description>System is grounded and on standby. It can be launched any time.</description>
+ </entry>
+ <entry name="MAV_STATE_ACTIVE">
+ <description>System is active and might be already airborne. Motors are engaged.</description>
+ </entry>
+ <entry name="MAV_STATE_CRITICAL">
+ <description>System is in a non-normal flight mode. It can however still navigate.</description>
+ </entry>
+ <entry name="MAV_STATE_EMERGENCY">
+ <description>System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.</description>
+ </entry>
+ <entry name="MAV_STATE_POWEROFF">
+ <description>System just initialized its power-down sequence, will shut down now.</description>
+ </entry>
+ </enum>
+ <enum name="MAV_COMPONENT">
+ <entry value="0" name="MAV_COMP_ID_ALL">
+ <description/>
+ </entry>
+ <entry value="220" name="MAV_COMP_ID_GPS">
+ <description/>
+ </entry>
+ <entry value="190" name="MAV_COMP_ID_MISSIONPLANNER">
+ <description/>
+ </entry>
+ <entry value="195" name="MAV_COMP_ID_PATHPLANNER">
+ <description/>
+ </entry>
+ <entry value="180" name="MAV_COMP_ID_MAPPER">
+ <description/>
+ </entry>
+ <entry value="100" name="MAV_COMP_ID_CAMERA">
+ <description/>
+ </entry>
+ <entry value="200" name="MAV_COMP_ID_IMU">
+ <description/>
+ </entry>
+ <entry value="201" name="MAV_COMP_ID_IMU_2">
+ <description/>
+ </entry>
+ <entry value="202" name="MAV_COMP_ID_IMU_3">
+ <description/>
+ </entry>
+ <entry value="240" name="MAV_COMP_ID_UDP_BRIDGE">
+ <description/>
+ </entry>
+ <entry value="241" name="MAV_COMP_ID_UART_BRIDGE">
+ <description/>
+ </entry>
+ <entry value="250" name="MAV_COMP_ID_SYSTEM_CONTROL">
+ <description/>
+ </entry>
+ <entry value="140" name="MAV_COMP_ID_SERVO1">
+ <description/>
+ </entry>
+ <entry value="141" name="MAV_COMP_ID_SERVO2">
+ <description/>
+ </entry>
+ <entry value="142" name="MAV_COMP_ID_SERVO3">
+ <description/>
+ </entry>
+ <entry value="143" name="MAV_COMP_ID_SERVO4">
+ <description/>
+ </entry>
+ <entry value="144" name="MAV_COMP_ID_SERVO5">
+ <description/>
+ </entry>
+ <entry value="145" name="MAV_COMP_ID_SERVO6">
+ <description/>
+ </entry>
+ <entry value="146" name="MAV_COMP_ID_SERVO7">
+ <description/>
+ </entry>
+ <entry value="147" name="MAV_COMP_ID_SERVO8">
+ <description/>
+ </entry>
+ <entry value="148" name="MAV_COMP_ID_SERVO9">
+ <description/>
+ </entry>
+ <entry value="149" name="MAV_COMP_ID_SERVO10">
+ <description/>
+ </entry>
+ <entry value="150" name="MAV_COMP_ID_SERVO11">
+ <description/>
+ </entry>
+ <entry value="151" name="MAV_COMP_ID_SERVO12">
+ <description/>
+ </entry>
+ <entry value="152" name="MAV_COMP_ID_SERVO13">
+ <description/>
+ </entry>
+ <entry value="153" name="MAV_COMP_ID_SERVO14">
+ <description/>
+ </entry>
+ </enum>
+ <enum name="MAV_FRAME">
+ <entry value="0" name="MAV_FRAME_GLOBAL">
+ <description>Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL)</description>
+ </entry>
+ <entry value="1" name="MAV_FRAME_LOCAL_NED">
+ <description>Local coordinate frame, Z-up (x: north, y: east, z: down).</description>
+ </entry>
+ <entry value="2" name="MAV_FRAME_MISSION">
+ <description>NOT a coordinate frame, indicates a mission command.</description>
+ </entry>
+ <entry value="3" name="MAV_FRAME_GLOBAL_RELATIVE_ALT">
+ <description>Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location.</description>
+ </entry>
+ <entry value="4" name="MAV_FRAME_LOCAL_ENU">
+ <description>Local coordinate frame, Z-down (x: east, y: north, z: up)</description>
+ </entry>
+ </enum>
+ <enum name="MAVLINK_DATA_STREAM_TYPE">
+ <entry name="MAVLINK_DATA_STREAM_IMG_JPEG">
+ <description/>
+ </entry>
+ <entry name="MAVLINK_DATA_STREAM_IMG_BMP">
+ <description/>
+ </entry>
+ <entry name="MAVLINK_DATA_STREAM_IMG_RAW8U">
+ <description/>
+ </entry>
+ <entry name="MAVLINK_DATA_STREAM_IMG_RAW32U">
+ <description/>
+ </entry>
+ <entry name="MAVLINK_DATA_STREAM_IMG_PGM">
+ <description/>
+ </entry>
+ <entry name="MAVLINK_DATA_STREAM_IMG_PNG">
+ <description/>
+ </entry>
+ </enum>
+ <enum name="MAV_CMD">
+ <description>Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data.</description>
+ <entry value="16" name="MAV_CMD_NAV_WAYPOINT">
+ <description>Navigate to MISSION.</description>
+ <param index="1">Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)</param>
+ <param index="2">Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)</param>
+ <param index="3">0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.</param>
+ <param index="4">Desired yaw angle at MISSION (rotary wing)</param>
+ <param index="5">Latitude</param>
+ <param index="6">Longitude</param>
+ <param index="7">Altitude</param>
+ </entry>
+ <entry value="17" name="MAV_CMD_NAV_LOITER_UNLIM">
+ <description>Loiter around this MISSION an unlimited amount of time</description>
+ <param index="1">Empty</param>
+ <param index="2">Empty</param>
+ <param index="3">Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise</param>
+ <param index="4">Desired yaw angle.</param>
+ <param index="5">Latitude</param>
+ <param index="6">Longitude</param>
+ <param index="7">Altitude</param>
+ </entry>
+ <entry value="18" name="MAV_CMD_NAV_LOITER_TURNS">
+ <description>Loiter around this MISSION for X turns</description>
+ <param index="1">Turns</param>
+ <param index="2">Empty</param>
+ <param index="3">Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise</param>
+ <param index="4">Desired yaw angle.</param>
+ <param index="5">Latitude</param>
+ <param index="6">Longitude</param>
+ <param index="7">Altitude</param>
+ </entry>
+ <entry value="19" name="MAV_CMD_NAV_LOITER_TIME">
+ <description>Loiter around this MISSION for X seconds</description>
+ <param index="1">Seconds (decimal)</param>
+ <param index="2">Empty</param>
+ <param index="3">Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise</param>
+ <param index="4">Desired yaw angle.</param>
+ <param index="5">Latitude</param>
+ <param index="6">Longitude</param>
+ <param index="7">Altitude</param>
+ </entry>
+ <entry value="20" name="MAV_CMD_NAV_RETURN_TO_LAUNCH">
+ <description>Return to launch location</description>
+ <param index="1">Empty</param>
+ <param index="2">Empty</param>
+ <param index="3">Empty</param>
+ <param index="4">Empty</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="21" name="MAV_CMD_NAV_LAND">
+ <description>Land at location</description>
+ <param index="1">Empty</param>
+ <param index="2">Empty</param>
+ <param index="3">Empty</param>
+ <param index="4">Desired yaw angle.</param>
+ <param index="5">Latitude</param>
+ <param index="6">Longitude</param>
+ <param index="7">Altitude</param>
+ </entry>
+ <entry value="22" name="MAV_CMD_NAV_TAKEOFF">
+ <description>Takeoff from ground / hand</description>
+ <param index="1">Minimum pitch (if airspeed sensor present), desired pitch without sensor</param>
+ <param index="2">Empty</param>
+ <param index="3">Empty</param>
+ <param index="4">Yaw angle (if magnetometer present), ignored without magnetometer</param>
+ <param index="5">Latitude</param>
+ <param index="6">Longitude</param>
+ <param index="7">Altitude</param>
+ </entry>
+ <entry value="80" name="MAV_CMD_NAV_ROI">
+ <description>Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
+ <param index="1">Region of intereset mode. (see MAV_ROI enum)</param>
+ <param index="2">MISSION index/ target ID. (see MAV_ROI enum)</param>
+ <param index="3">ROI index (allows a vehicle to manage multiple ROI's)</param>
+ <param index="4">Empty</param>
+ <param index="5">x the location of the fixed ROI (see MAV_FRAME)</param>
+ <param index="6">y</param>
+ <param index="7">z</param>
+ </entry>
+ <entry value="81" name="MAV_CMD_NAV_PATHPLANNING">
+ <description>Control autonomous path planning on the MAV.</description>
+ <param index="1">0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning</param>
+ <param index="2">0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid</param>
+ <param index="3">Empty</param>
+ <param index="4">Yaw angle at goal, in compass degrees, [0..360]</param>
+ <param index="5">Latitude/X of goal</param>
+ <param index="6">Longitude/Y of goal</param>
+ <param index="7">Altitude/Z of goal</param>
+ </entry>
+ <entry value="95" name="MAV_CMD_NAV_LAST">
+ <description>NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration</description>
+ <param index="1">Empty</param>
+ <param index="2">Empty</param>
+ <param index="3">Empty</param>
+ <param index="4">Empty</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="112" name="MAV_CMD_CONDITION_DELAY">
+ <description>Delay mission state machine.</description>
+ <param index="1">Delay in seconds (decimal)</param>
+ <param index="2">Empty</param>
+ <param index="3">Empty</param>
+ <param index="4">Empty</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="113" name="MAV_CMD_CONDITION_CHANGE_ALT">
+ <description>Ascend/descend at rate. Delay mission state machine until desired altitude reached.</description>
+ <param index="1">Descent / Ascend rate (m/s)</param>
+ <param index="2">Empty</param>
+ <param index="3">Empty</param>
+ <param index="4">Empty</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Finish Altitude</param>
+ </entry>
+ <entry value="114" name="MAV_CMD_CONDITION_DISTANCE">
+ <description>Delay mission state machine until within desired distance of next NAV point.</description>
+ <param index="1">Distance (meters)</param>
+ <param index="2">Empty</param>
+ <param index="3">Empty</param>
+ <param index="4">Empty</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="115" name="MAV_CMD_CONDITION_YAW">
+ <description>Reach a certain target angle.</description>
+ <param index="1">target angle: [0-360], 0 is north</param>
+ <param index="2">speed during yaw change:[deg per second]</param>
+ <param index="3">direction: negative: counter clockwise, positive: clockwise [-1,1]</param>
+ <param index="4">relative offset or absolute angle: [ 1,0]</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="159" name="MAV_CMD_CONDITION_LAST">
+ <description>NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration</description>
+ <param index="1">Empty</param>
+ <param index="2">Empty</param>
+ <param index="3">Empty</param>
+ <param index="4">Empty</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="176" name="MAV_CMD_DO_SET_MODE">
+ <description>Set system mode.</description>
+ <param index="1">Mode, as defined by ENUM MAV_MODE</param>
+ <param index="2">Empty</param>
+ <param index="3">Empty</param>
+ <param index="4">Empty</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="177" name="MAV_CMD_DO_JUMP">
+ <description>Jump to the desired command in the mission list. Repeat this action only the specified number of times</description>
+ <param index="1">Sequence number</param>
+ <param index="2">Repeat count</param>
+ <param index="3">Empty</param>
+ <param index="4">Empty</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="178" name="MAV_CMD_DO_CHANGE_SPEED">
+ <description>Change speed and/or throttle set points.</description>
+ <param index="1">Speed type (0=Airspeed, 1=Ground Speed)</param>
+ <param index="2">Speed (m/s, -1 indicates no change)</param>
+ <param index="3">Throttle ( Percent, -1 indicates no change)</param>
+ <param index="4">Empty</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="179" name="MAV_CMD_DO_SET_HOME">
+ <description>Changes the home location either to the current location or a specified location.</description>
+ <param index="1">Use current (1=use current location, 0=use specified location)</param>
+ <param index="2">Empty</param>
+ <param index="3">Empty</param>
+ <param index="4">Empty</param>
+ <param index="5">Latitude</param>
+ <param index="6">Longitude</param>
+ <param index="7">Altitude</param>
+ </entry>
+ <entry value="180" name="MAV_CMD_DO_SET_PARAMETER">
+ <description>Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.</description>
+ <param index="1">Parameter number</param>
+ <param index="2">Parameter value</param>
+ <param index="3">Empty</param>
+ <param index="4">Empty</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="181" name="MAV_CMD_DO_SET_RELAY">
+ <description>Set a relay to a condition.</description>
+ <param index="1">Relay number</param>
+ <param index="2">Setting (1=on, 0=off, others possible depending on system hardware)</param>
+ <param index="3">Empty</param>
+ <param index="4">Empty</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="182" name="MAV_CMD_DO_REPEAT_RELAY">
+ <description>Cycle a relay on and off for a desired number of cyles with a desired period.</description>
+ <param index="1">Relay number</param>
+ <param index="2">Cycle count</param>
+ <param index="3">Cycle time (seconds, decimal)</param>
+ <param index="4">Empty</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="183" name="MAV_CMD_DO_SET_SERVO">
+ <description>Set a servo to a desired PWM value.</description>
+ <param index="1">Servo number</param>
+ <param index="2">PWM (microseconds, 1000 to 2000 typical)</param>
+ <param index="3">Empty</param>
+ <param index="4">Empty</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="184" name="MAV_CMD_DO_REPEAT_SERVO">
+ <description>Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.</description>
+ <param index="1">Servo number</param>
+ <param index="2">PWM (microseconds, 1000 to 2000 typical)</param>
+ <param index="3">Cycle count</param>
+ <param index="4">Cycle time (seconds)</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="200" name="MAV_CMD_DO_CONTROL_VIDEO">
+ <description>Control onboard camera system.</description>
+ <param index="1">Camera ID (-1 for all)</param>
+ <param index="2">Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw</param>
+ <param index="3">Transmission mode: 0: video stream, >0: single images every n seconds (decimal)</param>
+ <param index="4">Recording: 0: disabled, 1: enabled compressed, 2: enabled raw</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="240" name="MAV_CMD_DO_LAST">
+ <description>NOP - This command is only used to mark the upper limit of the DO commands in the enumeration</description>
+ <param index="1">Empty</param>
+ <param index="2">Empty</param>
+ <param index="3">Empty</param>
+ <param index="4">Empty</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="241" name="MAV_CMD_PREFLIGHT_CALIBRATION">
+ <description>Trigger calibration. This command will be only accepted if in pre-flight mode.</description>
+ <param index="1">Gyro calibration: 0: no, 1: yes</param>
+ <param index="2">Magnetometer calibration: 0: no, 1: yes</param>
+ <param index="3">Ground pressure: 0: no, 1: yes</param>
+ <param index="4">Radio calibration: 0: no, 1: yes</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="242" name="MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS">
+ <description>Set sensor offsets. This command will be only accepted if in pre-flight mode.</description>
+ <param index="1">Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow</param>
+ <param index="2">X axis offset (or generic dimension 1), in the sensor's raw units</param>
+ <param index="3">Y axis offset (or generic dimension 2), in the sensor's raw units</param>
+ <param index="4">Z axis offset (or generic dimension 3), in the sensor's raw units</param>
+ <param index="5">Generic dimension 4, in the sensor's raw units</param>
+ <param index="6">Generic dimension 5, in the sensor's raw units</param>
+ <param index="7">Generic dimension 6, in the sensor's raw units</param>
+ </entry>
+ <entry value="245" name="MAV_CMD_PREFLIGHT_STORAGE">
+ <description>Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.</description>
+ <param index="1">Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM</param>
+ <param index="2">Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM</param>
+ <param index="3">Reserved</param>
+ <param index="4">Reserved</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="246" name="MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN">
+ <description>Request the reboot or shutdown of system components.</description>
+ <param index="1">0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.</param>
+ <param index="2">0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.</param>
+ <param index="3">Reserved</param>
+ <param index="4">Reserved</param>
+ <param index="5">Empty</param>
+ <param index="6">Empty</param>
+ <param index="7">Empty</param>
+ </entry>
+ <entry value="252" name="MAV_CMD_OVERRIDE_GOTO">
+ <description>Hold / continue the current action</description>
+ <param index="1">MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan</param>
+ <param index="2">MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position</param>
+ <param index="3">MAV_FRAME coordinate frame of hold point</param>
+ <param index="4">Desired yaw angle in degrees</param>
+ <param index="5">Latitude / X position</param>
+ <param index="6">Longitude / Y position</param>
+ <param index="7">Altitude / Z position</param>
+ </entry>
+ <entry value="300" name="MAV_CMD_MISSION_START">
+ <description>start running a mission</description>
+ <param index="1">first_item: the first mission item to run</param>
+ <param index="2">last_item: the last mission item to run (after this item is run, the mission ends)</param>
+ </entry>
+ <entry value="400" name="MAV_CMD_COMPONENT_ARM_DISARM">
+ <description>Arms / Disarms a component</description>
+ <param index="1">1 to arm, 0 to disarm</param>
+ </entry>
+ </enum>
+ <enum name="MAV_DATA_STREAM">
+ <description>Data stream IDs. A data stream is not a fixed set of messages, but rather a
+ recommendation to the autopilot software. Individual autopilots may or may not obey
+ the recommended messages.</description>
+ <entry value="0" name="MAV_DATA_STREAM_ALL">
+ <description>Enable all data streams</description>
+ </entry>
+ <entry value="1" name="MAV_DATA_STREAM_RAW_SENSORS">
+ <description>Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.</description>
+ </entry>
+ <entry value="2" name="MAV_DATA_STREAM_EXTENDED_STATUS">
+ <description>Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS</description>
+ </entry>
+ <entry value="3" name="MAV_DATA_STREAM_RC_CHANNELS">
+ <description>Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW</description>
+ </entry>
+ <entry value="4" name="MAV_DATA_STREAM_RAW_CONTROLLER">
+ <description>Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.</description>
+ </entry>
+ <entry value="6" name="MAV_DATA_STREAM_POSITION">
+ <description>Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.</description>
+ </entry>
+ <entry value="10" name="MAV_DATA_STREAM_EXTRA1">
+ <description>Dependent on the autopilot</description>
+ </entry>
+ <entry value="11" name="MAV_DATA_STREAM_EXTRA2">
+ <description>Dependent on the autopilot</description>
+ </entry>
+ <entry value="12" name="MAV_DATA_STREAM_EXTRA3">
+ <description>Dependent on the autopilot</description>
+ </entry>
+ </enum>
+ <enum name="MAV_ROI">
+ <description> The ROI (region of interest) for the vehicle. This can be
+ be used by the vehicle for camera/vehicle attitude alignment (see
+ MAV_CMD_NAV_ROI).</description>
+ <entry value="0" name="MAV_ROI_NONE">
+ <description>No region of interest.</description>
+ </entry>
+ <entry value="1" name="MAV_ROI_WPNEXT">
+ <description>Point toward next MISSION.</description>
+ </entry>
+ <entry value="2" name="MAV_ROI_WPINDEX">
+ <description>Point toward given MISSION.</description>
+ </entry>
+ <entry value="3" name="MAV_ROI_LOCATION">
+ <description>Point toward fixed location.</description>
+ </entry>
+ <entry value="4" name="MAV_ROI_TARGET">
+ <description>Point toward of given id.</description>
+ </entry>
+ </enum>
+ <enum name="MAV_CMD_ACK">
+ <description>ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission.</description>
+ <entry name="MAV_CMD_ACK_OK">
+ <description>Command / mission item is ok.</description>
+ </entry>
+ <entry name="MAV_CMD_ACK_ERR_FAIL">
+ <description>Generic error message if none of the other reasons fails or if no detailed error reporting is implemented.</description>
+ </entry>
+ <entry name="MAV_CMD_ACK_ERR_ACCESS_DENIED">
+ <description>The system is refusing to accept this command from this source / communication partner.</description>
+ </entry>
+ <entry name="MAV_CMD_ACK_ERR_NOT_SUPPORTED">
+ <description>Command or mission item is not supported, other commands would be accepted.</description>
+ </entry>
+ <entry name="MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTED">
+ <description>The coordinate frame of this command / mission item is not supported.</description>
+ </entry>
+ <entry name="MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGE">
+ <description>The coordinate frame of this command is ok, but he coordinate values exceed the safety limits of this system. This is a generic error, please use the more specific error messages below if possible.</description>
+ </entry>
+ <entry name="MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE">
+ <description>The X or latitude value is out of range.</description>
+ </entry>
+ <entry name="MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE">
+ <description>The Y or longitude value is out of range.</description>
+ </entry>
+ <entry name="MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE">
+ <description>The Z or altitude value is out of range.</description>
+ </entry>
+ </enum>
+ <!--<enum name="MAV_VAR">
+ <description>type of a mavlink parameter</description>
+ <entry value="0" name="MAV_VAR_FLOAT">
+ <description>32 bit float</description>
+ </entry>
+ <entry value="1" name="MAV_VAR_UINT8">
+ <description>8 bit unsigned integer</description>
+ </entry>
+ <entry value="2" name="MAV_VAR_INT8">
+ <description>8 bit signed integer</description>
+ </entry>
+ <entry value="3" name="MAV_VAR_UINT16">
+ <description>16 bit unsigned integer</description>
+ </entry>
+ <entry value="4" name="MAV_VAR_INT16">
+ <description>16 bit signed integer</description>
+ </entry>
+ <entry value="5" name="MAV_VAR_UINT32">
+ <description>32 bit unsigned integer</description>
+ </entry>
+ <entry value="6" name="MAV_VAR_INT32">
+ <description>32 bit signed integer</description>
+ </entry>
+ </enum>-->
+ <enum name="MAV_RESULT">
+ <description>result from a mavlink command</description>
+ <entry value="0" name="MAV_RESULT_ACCEPTED">
+ <description>Command ACCEPTED and EXECUTED</description>
+ </entry>
+ <entry value="1" name="MAV_RESULT_TEMPORARILY_REJECTED">
+ <description>Command TEMPORARY REJECTED/DENIED</description>
+ </entry>
+ <entry value="2" name="MAV_RESULT_DENIED">
+ <description>Command PERMANENTLY DENIED</description>
+ </entry>
+ <entry value="3" name="MAV_RESULT_UNSUPPORTED">
+ <description>Command UNKNOWN/UNSUPPORTED</description>
+ </entry>
+ <entry value="4" name="MAV_RESULT_FAILED">
+ <description>Command executed, but failed</description>
+ </entry>
+ </enum>
+ <enum name="MAV_MISSION_RESULT">
+ <description>result in a mavlink mission ack</description>
+ <entry value="0" name="MAV_MISSION_ACCEPTED">
+ <description>mission accepted OK</description>
+ </entry>
+ <entry value="1" name="MAV_MISSION_ERROR">
+ <description>generic error / not accepting mission commands at all right now</description>
+ </entry>
+ <entry value="2" name="MAV_MISSION_UNSUPPORTED_FRAME">
+ <description>coordinate frame is not supported</description>
+ </entry>
+ <entry value="3" name="MAV_MISSION_UNSUPPORTED">
+ <description>command is not supported</description>
+ </entry>
+ <entry value="4" name="MAV_MISSION_NO_SPACE">
+ <description>mission item exceeds storage space</description>
+ </entry>
+ <entry value="5" name="MAV_MISSION_INVALID">
+ <description>one of the parameters has an invalid value</description>
+ </entry>
+ <entry value="6" name="MAV_MISSION_INVALID_PARAM1">
+ <description>param1 has an invalid value</description>
+ </entry>
+ <entry value="7" name="MAV_MISSION_INVALID_PARAM2">
+ <description>param2 has an invalid value</description>
+ </entry>
+ <entry value="8" name="MAV_MISSION_INVALID_PARAM3">
+ <description>param3 has an invalid value</description>
+ </entry>
+ <entry value="9" name="MAV_MISSION_INVALID_PARAM4">
+ <description>param4 has an invalid value</description>
+ </entry>
+ <entry value="10" name="MAV_MISSION_INVALID_PARAM5_X">
+ <description>x/param5 has an invalid value</description>
+ </entry>
+ <entry value="11" name="MAV_MISSION_INVALID_PARAM6_Y">
+ <description>y/param6 has an invalid value</description>
+ </entry>
+ <entry value="12" name="MAV_MISSION_INVALID_PARAM7">
+ <description>param7 has an invalid value</description>
+ </entry>
+ <entry value="13" name="MAV_MISSION_INVALID_SEQUENCE">
+ <description>received waypoint out of sequence</description>
+ </entry>
+ <entry value="14" name="MAV_MISSION_DENIED">
+ <description>not accepting any mission commands from this communication partner</description>
+ </entry>
+ </enum>
+ <enum name="MAV_SEVERITY">
+ <description>Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.</description>
+ <entry value="0" name="MAV_SEVERITY_EMERGENCY">
+ <description>System is unusable. This is a "panic" condition.</description>
+ </entry>
+ <entry value="1" name="MAV_SEVERITY_ALERT">
+ <description>Action should be taken immediately. Indicates error in non-critical systems.</description>
+ </entry>
+ <entry value="2" name="MAV_SEVERITY_CRITICAL">
+ <description>Action must be taken immediately. Indicates failure in a primary system.</description>
+ </entry>
+ <entry value="3" name="MAV_SEVERITY_ERROR">
+ <description>Indicates an error in secondary/redundant systems.</description>
+ </entry>
+ <entry value="4" name="MAV_SEVERITY_WARNING">
+ <description>Indicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.</description>
+ </entry>
+ <entry value="5" name="MAV_SEVERITY_NOTICE">
+ <description>An unusual event has occured, though not an error condition. This should be investigated for the root cause.</description>
+ </entry>
+ <entry value="6" name="MAV_SEVERITY_INFO">
+ <description>Normal operational messages. Useful for logging. No action is required for these messages.</description>
+ </entry>
+ <entry value="7" name="MAV_SEVERITY_DEBUG">
+ <description>Useful non-operational messages that can assist in debugging. These should not occur during normal operation.</description>
+ </entry>
+ </enum>
+ </enums>
+ <messages>
+ <message id="0" name="HEARTBEAT">
+ <description>The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot).</description>
+ <field type="uint8_t" name="type">Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)</field>
+ <field type="uint8_t" name="autopilot">Autopilot type / class. defined in MAV_AUTOPILOT ENUM</field>
+ <field type="uint8_t" name="base_mode">System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h</field>
+ <field type="uint32_t" name="custom_mode">A bitfield for use for autopilot-specific flags.</field>
+ <field type="uint8_t" name="system_status">System status flag, see MAV_STATE ENUM</field>
+ <field type="uint8_t_mavlink_version" name="mavlink_version">MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version</field>
+ </message>
+ <message id="1" name="SYS_STATUS">
+ <description>The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows wether the system is currently active or not and if an emergency occured. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occured it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.</description>
+ <field type="uint32_t" name="onboard_control_sensors_present" print_format="0x%04x">Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control</field>
+ <field type="uint32_t" name="onboard_control_sensors_enabled" print_format="0x%04x">Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control</field>
+ <field type="uint32_t" name="onboard_control_sensors_health" print_format="0x%04x">Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control</field>
+ <field type="uint16_t" name="load">Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000</field>
+ <field type="uint16_t" name="voltage_battery">Battery voltage, in millivolts (1 = 1 millivolt)</field>
+ <field type="int16_t" name="current_battery">Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current</field>
+ <field type="int8_t" name="battery_remaining">Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery</field>
+ <field type="uint16_t" name="drop_rate_comm">Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)</field>
+ <field type="uint16_t" name="errors_comm">Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)</field>
+ <field type="uint16_t" name="errors_count1">Autopilot-specific errors</field>
+ <field type="uint16_t" name="errors_count2">Autopilot-specific errors</field>
+ <field type="uint16_t" name="errors_count3">Autopilot-specific errors</field>
+ <field type="uint16_t" name="errors_count4">Autopilot-specific errors</field>
+ </message>
+ <message id="2" name="SYSTEM_TIME">
+ <description>The system time is the time of the master clock, typically the computer clock of the main onboard computer.</description>
+ <field type="uint64_t" name="time_unix_usec">Timestamp of the master clock in microseconds since UNIX epoch.</field>
+ <field type="uint32_t" name="time_boot_ms">Timestamp of the component clock since boot time in milliseconds.</field>
+ </message>
+ <!-- FIXME to be removed / merged with SYSTEM_TIME -->
+ <message id="4" name="PING">
+ <description>A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections.</description>
+ <field type="uint64_t" name="time_usec">Unix timestamp in microseconds</field>
+ <field type="uint32_t" name="seq">PING sequence</field>
+ <field type="uint8_t" name="target_system">0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system</field>
+ <field type="uint8_t" name="target_component">0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system</field>
+ </message>
+ <message id="5" name="CHANGE_OPERATOR_CONTROL">
+ <description>Request to control this MAV</description>
+ <field type="uint8_t" name="target_system">System the GCS requests control for</field>
+ <field type="uint8_t" name="control_request">0: request control of this MAV, 1: Release control of this MAV</field>
+ <field type="uint8_t" name="version">0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.</field>
+ <field type="char[25]" name="passkey">Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"</field>
+ </message>
+ <message id="6" name="CHANGE_OPERATOR_CONTROL_ACK">
+ <description>Accept / deny control of this MAV</description>
+ <field type="uint8_t" name="gcs_system_id">ID of the GCS this message </field>
+ <field type="uint8_t" name="control_request">0: request control of this MAV, 1: Release control of this MAV</field>
+ <field type="uint8_t" name="ack">0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control</field>
+ </message>
+ <message id="7" name="AUTH_KEY">
+ <description>Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.</description>
+ <field type="char[32]" name="key">key</field>
+ </message>
+ <message id="11" name="SET_MODE">
+ <description>Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.</description>
+ <field type="uint8_t" name="target_system">The system setting the mode</field>
+ <field type="uint8_t" name="base_mode">The new base mode</field>
+ <field type="uint32_t" name="custom_mode">The new autopilot-specific mode. This field can be ignored by an autopilot.</field>
+ </message>
+ <message id="20" name="PARAM_REQUEST_READ">
+ <description>Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also http://qgroundcontrol.org/parameter_interface for a full documentation of QGroundControl and IMU code.</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ <field type="char[16]" name="param_id">Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
+ <field type="int16_t" name="param_index">Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)</field>
+ </message>
+ <message id="21" name="PARAM_REQUEST_LIST">
+ <description>Request all parameters of this component. After his request, all parameters are emitted.</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ </message>
+ <message id="22" name="PARAM_VALUE">
+ <description>Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout.</description>
+ <field type="char[16]" name="param_id">Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
+ <field type="float" name="param_value">Onboard parameter value</field>
+ <field type="uint8_t" name="param_type">Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h</field>
+ <field type="uint16_t" name="param_count">Total number of onboard parameters</field>
+ <field type="uint16_t" name="param_index">Index of this onboard parameter</field>
+ </message>
+ <message id="23" name="PARAM_SET">
+ <description>Set a parameter value TEMPORARILY to RAM. It will be reset to default on system reboot. Send the ACTION MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM contents to EEPROM. IMPORTANT: The receiving component should acknowledge the new parameter value by sending a param_value message to all communication partners. This will also ensure that multiple GCS all have an up-to-date list of all parameters. If the sending GCS did not receive a PARAM_VALUE message within its timeout time, it should re-send the PARAM_SET message.</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ <field type="char[16]" name="param_id">Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
+ <field type="float" name="param_value">Onboard parameter value</field>
+ <field type="uint8_t" name="param_type">Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h</field>
+ </message>
+ <message id="24" name="GPS_RAW_INT">
+ <description>The global position, as returned by the Global Positioning System (GPS). This is
+ NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame).</description>
+ <field type="uint64_t" name="time_usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
+ <field type="uint8_t" name="fix_type">0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.</field>
+ <field type="int32_t" name="lat">Latitude in 1E7 degrees</field>
+ <field type="int32_t" name="lon">Longitude in 1E7 degrees</field>
+ <field type="int32_t" name="alt">Altitude in 1E3 meters (millimeters) above MSL</field>
+ <field type="uint16_t" name="eph">GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535</field>
+ <field type="uint16_t" name="epv">GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535</field>
+ <field type="uint16_t" name="vel">GPS ground speed (m/s * 100). If unknown, set to: 65535</field>
+ <field type="uint16_t" name="cog">Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535</field>
+ <field type="uint8_t" name="satellites_visible">Number of satellites visible. If unknown, set to 255</field>
+ </message>
+ <message id="25" name="GPS_STATUS">
+ <description>The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION for the global position estimate. This message can contain information for up to 20 satellites.</description>
+ <field type="uint8_t" name="satellites_visible">Number of satellites visible</field>
+ <field type="uint8_t[20]" name="satellite_prn">Global satellite ID</field>
+ <field type="uint8_t[20]" name="satellite_used">0: Satellite not used, 1: used for localization</field>
+ <field type="uint8_t[20]" name="satellite_elevation">Elevation (0: right on top of receiver, 90: on the horizon) of satellite</field>
+ <field type="uint8_t[20]" name="satellite_azimuth">Direction of satellite, 0: 0 deg, 255: 360 deg.</field>
+ <field type="uint8_t[20]" name="satellite_snr">Signal to noise ratio of satellite</field>
+ </message>
+ <message id="26" name="SCALED_IMU">
+ <description>The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units</description>
+ <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
+ <field type="int16_t" name="xacc">X acceleration (mg)</field>
+ <field type="int16_t" name="yacc">Y acceleration (mg)</field>
+ <field type="int16_t" name="zacc">Z acceleration (mg)</field>
+ <field type="int16_t" name="xgyro">Angular speed around X axis (millirad /sec)</field>
+ <field type="int16_t" name="ygyro">Angular speed around Y axis (millirad /sec)</field>
+ <field type="int16_t" name="zgyro">Angular speed around Z axis (millirad /sec)</field>
+ <field type="int16_t" name="xmag">X Magnetic field (milli tesla)</field>
+ <field type="int16_t" name="ymag">Y Magnetic field (milli tesla)</field>
+ <field type="int16_t" name="zmag">Z Magnetic field (milli tesla)</field>
+ </message>
+ <message id="27" name="RAW_IMU">
+ <description>The RAW IMU readings for the usual 9DOF sensor setup. This message should always contain the true raw values without any scaling to allow data capture and system debugging.</description>
+ <field type="uint64_t" name="time_usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
+ <field type="int16_t" name="xacc">X acceleration (raw)</field>
+ <field type="int16_t" name="yacc">Y acceleration (raw)</field>
+ <field type="int16_t" name="zacc">Z acceleration (raw)</field>
+ <field type="int16_t" name="xgyro">Angular speed around X axis (raw)</field>
+ <field type="int16_t" name="ygyro">Angular speed around Y axis (raw)</field>
+ <field type="int16_t" name="zgyro">Angular speed around Z axis (raw)</field>
+ <field type="int16_t" name="xmag">X Magnetic field (raw)</field>
+ <field type="int16_t" name="ymag">Y Magnetic field (raw)</field>
+ <field type="int16_t" name="zmag">Z Magnetic field (raw)</field>
+ </message>
+ <message id="28" name="RAW_PRESSURE">
+ <description>The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values.</description>
+ <field type="uint64_t" name="time_usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
+ <field type="int16_t" name="press_abs">Absolute pressure (raw)</field>
+ <field type="int16_t" name="press_diff1">Differential pressure 1 (raw)</field>
+ <field type="int16_t" name="press_diff2">Differential pressure 2 (raw)</field>
+ <field type="int16_t" name="temperature">Raw Temperature measurement (raw)</field>
+ </message>
+ <message id="29" name="SCALED_PRESSURE">
+ <description>The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.</description>
+ <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
+ <field type="float" name="press_abs">Absolute pressure (hectopascal)</field>
+ <field type="float" name="press_diff">Differential pressure 1 (hectopascal)</field>
+ <field type="int16_t" name="temperature">Temperature measurement (0.01 degrees celsius)</field>
+ </message>
+ <message id="30" name="ATTITUDE">
+ <description>The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right).</description>
+ <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
+ <field type="float" name="roll">Roll angle (rad)</field>
+ <field type="float" name="pitch">Pitch angle (rad)</field>
+ <field type="float" name="yaw">Yaw angle (rad)</field>
+ <field type="float" name="rollspeed">Roll angular speed (rad/s)</field>
+ <field type="float" name="pitchspeed">Pitch angular speed (rad/s)</field>
+ <field type="float" name="yawspeed">Yaw angular speed (rad/s)</field>
+ </message>
+ <message id="31" name="ATTITUDE_QUATERNION">
+ <description>The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion.</description>
+ <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
+ <field type="float" name="q1">Quaternion component 1</field>
+ <field type="float" name="q2">Quaternion component 2</field>
+ <field type="float" name="q3">Quaternion component 3</field>
+ <field type="float" name="q4">Quaternion component 4</field>
+ <field type="float" name="rollspeed">Roll angular speed (rad/s)</field>
+ <field type="float" name="pitchspeed">Pitch angular speed (rad/s)</field>
+ <field type="float" name="yawspeed">Yaw angular speed (rad/s)</field>
+ </message>
+ <message id="32" name="LOCAL_POSITION_NED">
+ <description>The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)</description>
+ <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
+ <field type="float" name="x">X Position</field>
+ <field type="float" name="y">Y Position</field>
+ <field type="float" name="z">Z Position</field>
+ <field type="float" name="vx">X Speed</field>
+ <field type="float" name="vy">Y Speed</field>
+ <field type="float" name="vz">Z Speed</field>
+ </message>
+ <message id="33" name="GLOBAL_POSITION_INT">
+ <description>The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It
+ is designed as scaled integer message since the resolution of float is not sufficient.</description>
+ <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
+ <field type="int32_t" name="lat">Latitude, expressed as * 1E7</field>
+ <field type="int32_t" name="lon">Longitude, expressed as * 1E7</field>
+ <field type="int32_t" name="alt">Altitude in meters, expressed as * 1000 (millimeters), above MSL</field>
+ <field type="int32_t" name="relative_alt">Altitude above ground in meters, expressed as * 1000 (millimeters)</field>
+ <field type="int16_t" name="vx">Ground X Speed (Latitude), expressed as m/s * 100</field>
+ <field type="int16_t" name="vy">Ground Y Speed (Longitude), expressed as m/s * 100</field>
+ <field type="int16_t" name="vz">Ground Z Speed (Altitude), expressed as m/s * 100</field>
+ <field type="uint16_t" name="hdg">Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535</field>
+ </message>
+ <message id="34" name="RC_CHANNELS_SCALED">
+ <description>The scaled values of the RC channels received. (-100%) -10000, (0%) 0, (100%) 10000</description>
+ <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
+ <field type="uint8_t" name="port">Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.</field>
+ <field type="int16_t" name="chan1_scaled">RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000</field>
+ <field type="int16_t" name="chan2_scaled">RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000</field>
+ <field type="int16_t" name="chan3_scaled">RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000</field>
+ <field type="int16_t" name="chan4_scaled">RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000</field>
+ <field type="int16_t" name="chan5_scaled">RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000</field>
+ <field type="int16_t" name="chan6_scaled">RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000</field>
+ <field type="int16_t" name="chan7_scaled">RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000</field>
+ <field type="int16_t" name="chan8_scaled">RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000</field>
+ <field type="uint8_t" name="rssi">Receive signal strength indicator, 0: 0%, 255: 100%</field>
+ </message>
+ <message id="35" name="RC_CHANNELS_RAW">
+ <description>The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.</description>
+ <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
+ <field type="uint8_t" name="port">Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.</field>
+ <field type="uint16_t" name="chan1_raw">RC channel 1 value, in microseconds</field>
+ <field type="uint16_t" name="chan2_raw">RC channel 2 value, in microseconds</field>
+ <field type="uint16_t" name="chan3_raw">RC channel 3 value, in microseconds</field>
+ <field type="uint16_t" name="chan4_raw">RC channel 4 value, in microseconds</field>
+ <field type="uint16_t" name="chan5_raw">RC channel 5 value, in microseconds</field>
+ <field type="uint16_t" name="chan6_raw">RC channel 6 value, in microseconds</field>
+ <field type="uint16_t" name="chan7_raw">RC channel 7 value, in microseconds</field>
+ <field type="uint16_t" name="chan8_raw">RC channel 8 value, in microseconds</field>
+ <field type="uint8_t" name="rssi">Receive signal strength indicator, 0: 0%, 255: 100%</field>
+ </message>
+ <message id="36" name="SERVO_OUTPUT_RAW">
+ <description>The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.</description>
+ <field type="uint32_t" name="time_usec">Timestamp (microseconds since system boot)</field>
+ <field type="uint8_t" name="port">Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.</field>
+ <field type="uint16_t" name="servo1_raw">Servo output 1 value, in microseconds</field>
+ <field type="uint16_t" name="servo2_raw">Servo output 2 value, in microseconds</field>
+ <field type="uint16_t" name="servo3_raw">Servo output 3 value, in microseconds</field>
+ <field type="uint16_t" name="servo4_raw">Servo output 4 value, in microseconds</field>
+ <field type="uint16_t" name="servo5_raw">Servo output 5 value, in microseconds</field>
+ <field type="uint16_t" name="servo6_raw">Servo output 6 value, in microseconds</field>
+ <field type="uint16_t" name="servo7_raw">Servo output 7 value, in microseconds</field>
+ <field type="uint16_t" name="servo8_raw">Servo output 8 value, in microseconds</field>
+ </message>
+ <message id="37" name="MISSION_REQUEST_PARTIAL_LIST">
+ <description>Request the overall list of MISSIONs from the system/component. http://qgroundcontrol.org/mavlink/waypoint_protocol</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ <field type="int16_t" name="start_index">Start index, 0 by default</field>
+ <field type="int16_t" name="end_index">End index, -1 by default (-1: send list to end). Else a valid index of the list</field>
+ </message>
+ <message id="38" name="MISSION_WRITE_PARTIAL_LIST">
+ <description>This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ <field type="int16_t" name="start_index">Start index, 0 by default and smaller / equal to the largest index of the current onboard list.</field>
+ <field type="int16_t" name="end_index">End index, equal or greater than start index.</field>
+ </message>
+ <message id="39" name="MISSION_ITEM">
+ <description>Message encoding a mission item. This message is emitted to announce
+ the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). See also http://qgroundcontrol.org/mavlink/waypoint_protocol.</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ <field type="uint16_t" name="seq">Sequence</field>
+ <field type="uint8_t" name="frame">The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h</field>
+ <field type="uint16_t" name="command">The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs</field>
+ <field type="uint8_t" name="current">false:0, true:1</field>
+ <field type="uint8_t" name="autocontinue">autocontinue to next wp</field>
+ <field type="float" name="param1">PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters</field>
+ <field type="float" name="param2">PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds</field>
+ <field type="float" name="param3">PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.</field>
+ <field type="float" name="param4">PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH</field>
+ <field type="float" name="x">PARAM5 / local: x position, global: latitude</field>
+ <field type="float" name="y">PARAM6 / y position: global: longitude</field>
+ <field type="float" name="z">PARAM7 / z position: global: altitude</field>
+ </message>
+ <message id="40" name="MISSION_REQUEST">
+ <description>Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. http://qgroundcontrol.org/mavlink/waypoint_protocol</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ <field type="uint16_t" name="seq">Sequence</field>
+ </message>
+ <message id="41" name="MISSION_SET_CURRENT">
+ <description>Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between).</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ <field type="uint16_t" name="seq">Sequence</field>
+ </message>
+ <message id="42" name="MISSION_CURRENT">
+ <description>Message that announces the sequence number of the current active mission item. The MAV will fly towards this mission item.</description>
+ <field type="uint16_t" name="seq">Sequence</field>
+ </message>
+ <message id="43" name="MISSION_REQUEST_LIST">
+ <description>Request the overall list of mission items from the system/component.</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ </message>
+ <message id="44" name="MISSION_COUNT">
+ <description>This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of MISSIONs.</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ <field type="uint16_t" name="count">Number of mission items in the sequence</field>
+ </message>
+ <message id="45" name="MISSION_CLEAR_ALL">
+ <description>Delete all mission items at once.</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ </message>
+ <message id="46" name="MISSION_ITEM_REACHED">
+ <description>A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next MISSION.</description>
+ <field type="uint16_t" name="seq">Sequence</field>
+ </message>
+ <message id="47" name="MISSION_ACK">
+ <description>Ack message during MISSION handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ <field type="uint8_t" name="type">See MAV_MISSION_RESULT enum</field>
+ </message>
+ <message id="48" name="SET_GPS_GLOBAL_ORIGIN">
+ <description>As local MISSIONs exist, the global MISSION reference allows to transform between the local coordinate frame and the global (GPS) coordinate frame. This can be necessary when e.g. in- and outdoor settings are connected and the MAV should move from in- to outdoor.</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="int32_t" name="latitude">global position * 1E7</field>
+ <field type="int32_t" name="longitude">global position * 1E7</field>
+ <field type="int32_t" name="altitude">global position * 1000</field>
+ </message>
+ <message id="49" name="GPS_GLOBAL_ORIGIN">
+ <description>Once the MAV sets a new GPS-Local correspondence, this message announces the origin (0,0,0) position</description>
+ <field type="int32_t" name="latitude">Latitude (WGS84), expressed as * 1E7</field>
+ <field type="int32_t" name="longitude">Longitude (WGS84), expressed as * 1E7</field>
+ <field type="int32_t" name="altitude">Altitude(WGS84), expressed as * 1000</field>
+ </message>
+ <message id="50" name="SET_LOCAL_POSITION_SETPOINT">
+ <description>Set the setpoint for a local position controller. This is the position in local coordinates the MAV should fly to. This message is sent by the path/MISSION planner to the onboard position controller. As some MAVs have a degree of freedom in yaw (e.g. all helicopters/quadrotors), the desired yaw angle is part of the message.</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ <field type="uint8_t" name="coordinate_frame">Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU</field>
+ <field type="float" name="x">x position</field>
+ <field type="float" name="y">y position</field>
+ <field type="float" name="z">z position</field>
+ <field type="float" name="yaw">Desired yaw angle</field>
+ </message>
+ <message id="51" name="LOCAL_POSITION_SETPOINT">
+ <description>Transmit the current local setpoint of the controller to other MAVs (collision avoidance) and to the GCS.</description>
+ <field type="uint8_t" name="coordinate_frame">Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU</field>
+ <field type="float" name="x">x position</field>
+ <field type="float" name="y">y position</field>
+ <field type="float" name="z">z position</field>
+ <field type="float" name="yaw">Desired yaw angle</field>
+ </message>
+ <message id="52" name="GLOBAL_POSITION_SETPOINT_INT">
+ <description>Transmit the current local setpoint of the controller to other MAVs (collision avoidance) and to the GCS.</description>
+ <field type="uint8_t" name="coordinate_frame">Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT</field>
+ <field type="int32_t" name="latitude">WGS84 Latitude position in degrees * 1E7</field>
+ <field type="int32_t" name="longitude">WGS84 Longitude position in degrees * 1E7</field>
+ <field type="int32_t" name="altitude">WGS84 Altitude in meters * 1000 (positive for up)</field>
+ <field type="int16_t" name="yaw">Desired yaw angle in degrees * 100</field>
+ </message>
+ <message id="53" name="SET_GLOBAL_POSITION_SETPOINT_INT">
+ <description>Set the current global position setpoint.</description>
+ <field type="uint8_t" name="coordinate_frame">Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT</field>
+ <field type="int32_t" name="latitude">WGS84 Latitude position in degrees * 1E7</field>
+ <field type="int32_t" name="longitude">WGS84 Longitude position in degrees * 1E7</field>
+ <field type="int32_t" name="altitude">WGS84 Altitude in meters * 1000 (positive for up)</field>
+ <field type="int16_t" name="yaw">Desired yaw angle in degrees * 100</field>
+ </message>
+ <message id="54" name="SAFETY_SET_ALLOWED_AREA">
+ <description>Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/MISSIONs to accept and which to reject. Safety areas are often enforced by national or competition regulations.</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ <field type="uint8_t" name="frame">Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.</field>
+ <field type="float" name="p1x">x position 1 / Latitude 1</field>
+ <field type="float" name="p1y">y position 1 / Longitude 1</field>
+ <field type="float" name="p1z">z position 1 / Altitude 1</field>
+ <field type="float" name="p2x">x position 2 / Latitude 2</field>
+ <field type="float" name="p2y">y position 2 / Longitude 2</field>
+ <field type="float" name="p2z">z position 2 / Altitude 2</field>
+ </message>
+ <message id="55" name="SAFETY_ALLOWED_AREA">
+ <description>Read out the safety zone the MAV currently assumes.</description>
+ <field type="uint8_t" name="frame">Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.</field>
+ <field type="float" name="p1x">x position 1 / Latitude 1</field>
+ <field type="float" name="p1y">y position 1 / Longitude 1</field>
+ <field type="float" name="p1z">z position 1 / Altitude 1</field>
+ <field type="float" name="p2x">x position 2 / Latitude 2</field>
+ <field type="float" name="p2y">y position 2 / Longitude 2</field>
+ <field type="float" name="p2z">z position 2 / Altitude 2</field>
+ </message>
+ <message id="56" name="SET_ROLL_PITCH_YAW_THRUST">
+ <description>Set roll, pitch and yaw.</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ <field type="float" name="roll">Desired roll angle in radians</field>
+ <field type="float" name="pitch">Desired pitch angle in radians</field>
+ <field type="float" name="yaw">Desired yaw angle in radians</field>
+ <field type="float" name="thrust">Collective thrust, normalized to 0 .. 1</field>
+ </message>
+ <message id="57" name="SET_ROLL_PITCH_YAW_SPEED_THRUST">
+ <description>Set roll, pitch and yaw.</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ <field type="float" name="roll_speed">Desired roll angular speed in rad/s</field>
+ <field type="float" name="pitch_speed">Desired pitch angular speed in rad/s</field>
+ <field type="float" name="yaw_speed">Desired yaw angular speed in rad/s</field>
+ <field type="float" name="thrust">Collective thrust, normalized to 0 .. 1</field>
+ </message>
+ <message id="58" name="ROLL_PITCH_YAW_THRUST_SETPOINT">
+ <description>Setpoint in roll, pitch, yaw currently active on the system.</description>
+ <field type="uint32_t" name="time_boot_ms">Timestamp in milliseconds since system boot</field>
+ <field type="float" name="roll">Desired roll angle in radians</field>
+ <field type="float" name="pitch">Desired pitch angle in radians</field>
+ <field type="float" name="yaw">Desired yaw angle in radians</field>
+ <field type="float" name="thrust">Collective thrust, normalized to 0 .. 1</field>
+ </message>
+ <message id="59" name="ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT">
+ <description>Setpoint in rollspeed, pitchspeed, yawspeed currently active on the system.</description>
+ <field type="uint32_t" name="time_boot_ms">Timestamp in milliseconds since system boot</field>
+ <field type="float" name="roll_speed">Desired roll angular speed in rad/s</field>
+ <field type="float" name="pitch_speed">Desired pitch angular speed in rad/s</field>
+ <field type="float" name="yaw_speed">Desired yaw angular speed in rad/s</field>
+ <field type="float" name="thrust">Collective thrust, normalized to 0 .. 1</field>
+ </message>
+ <message id="60" name="SET_QUAD_MOTORS_SETPOINT">
+ <description>Setpoint in the four motor speeds</description>
+ <field type="uint8_t" name="target_system">System ID of the system that should set these motor commands</field>
+ <field type="uint16_t" name="motor_front_nw">Front motor in + configuration, front left motor in x configuration</field>
+ <field type="uint16_t" name="motor_right_ne">Right motor in + configuration, front right motor in x configuration</field>
+ <field type="uint16_t" name="motor_back_se">Back motor in + configuration, back right motor in x configuration</field>
+ <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>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="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>
+ <field type="float" name="nav_roll">Current desired roll in degrees</field>
+ <field type="float" name="nav_pitch">Current desired pitch in degrees</field>
+ <field type="int16_t" name="nav_bearing">Current desired heading in degrees</field>
+ <field type="int16_t" name="target_bearing">Bearing to current MISSION/target in degrees</field>
+ <field type="uint16_t" name="wp_dist">Distance to active MISSION in meters</field>
+ <field type="float" name="alt_error">Current altitude error in meters</field>
+ <field type="float" name="aspd_error">Current airspeed error in meters/second</field>
+ <field type="float" name="xtrack_error">Current crosstrack error on x-y plane in meters</field>
+ </message>
+ <message id="63" name="SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST">
+ <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="64" name="STATE_CORRECTION">
+ <description>Corrects the systems state by adding an error correction term to the position and velocity, and by rotating the attitude by a correction angle.</description>
+ <field type="float" name="xErr">x position error</field>
+ <field type="float" name="yErr">y position error</field>
+ <field type="float" name="zErr">z position error</field>
+ <field type="float" name="rollErr">roll error (radians)</field>
+ <field type="float" name="pitchErr">pitch error (radians)</field>
+ <field type="float" name="yawErr">yaw error (radians)</field>
+ <field type="float" name="vxErr">x velocity</field>
+ <field type="float" name="vyErr">y velocity</field>
+ <field type="float" name="vzErr">z velocity</field>
+ </message>
+ <message id="66" name="REQUEST_DATA_STREAM">
+ <field type="uint8_t" name="target_system">The target requested to send the message stream.</field>
+ <field type="uint8_t" name="target_component">The target requested to send the message stream.</field>
+ <field type="uint8_t" name="req_stream_id">The ID of the requested data stream</field>
+ <field type="uint16_t" name="req_message_rate">The requested interval between two messages of this type</field>
+ <field type="uint8_t" name="start_stop">1 to start sending, 0 to stop sending.</field>
+ </message>
+ <message id="67" name="DATA_STREAM">
+ <field type="uint8_t" name="stream_id">The ID of the requested data stream</field>
+ <field type="uint16_t" name="message_rate">The requested interval between two messages of this type</field>
+ <field type="uint8_t" name="on_off">1 stream is enabled, 0 stream is stopped.</field>
+ </message>
+ <message id="69" name="MANUAL_CONTROL">
+ <field type="uint8_t" name="target">The system to be controlled</field>
+ <field type="float" name="roll">roll</field>
+ <field type="float" name="pitch">pitch</field>
+ <field type="float" name="yaw">yaw</field>
+ <field type="float" name="thrust">thrust</field>
+ <field type="uint8_t" name="roll_manual">roll control enabled auto:0, manual:1</field>
+ <field type="uint8_t" name="pitch_manual">pitch auto:0, manual:1</field>
+ <field type="uint8_t" name="yaw_manual">yaw auto:0, manual:1</field>
+ <field type="uint8_t" name="thrust_manual">thrust auto:0, manual:1</field>
+ </message>
+ <message id="70" name="RC_CHANNELS_OVERRIDE">
+ <description>The RAW values of the RC channels sent to the MAV to override info received from the RC radio. A value of -1 means no change to that channel. A value of 0 means control of that channel should be released back to the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ <field type="uint16_t" name="chan1_raw">RC channel 1 value, in microseconds</field>
+ <field type="uint16_t" name="chan2_raw">RC channel 2 value, in microseconds</field>
+ <field type="uint16_t" name="chan3_raw">RC channel 3 value, in microseconds</field>
+ <field type="uint16_t" name="chan4_raw">RC channel 4 value, in microseconds</field>
+ <field type="uint16_t" name="chan5_raw">RC channel 5 value, in microseconds</field>
+ <field type="uint16_t" name="chan6_raw">RC channel 6 value, in microseconds</field>
+ <field type="uint16_t" name="chan7_raw">RC channel 7 value, in microseconds</field>
+ <field type="uint16_t" name="chan8_raw">RC channel 8 value, in microseconds</field>
+ </message>
+ <message id="74" name="VFR_HUD">
+ <description>Metrics typically displayed on a HUD for fixed wing aircraft</description>
+ <field type="float" name="airspeed">Current airspeed in m/s</field>
+ <field type="float" name="groundspeed">Current ground speed in m/s</field>
+ <field type="int16_t" name="heading">Current heading in degrees, in compass units (0..360, 0=north)</field>
+ <field type="uint16_t" name="throttle">Current throttle setting in integer percent, 0 to 100</field>
+ <field type="float" name="alt">Current altitude (MSL), in meters</field>
+ <field type="float" name="climb">Current climb rate in meters/second</field>
+ </message>
+ <message id="76" name="COMMAND_LONG">
+ <description>Send a command with up to four parameters to the MAV</description>
+ <field type="uint8_t" name="target_system">System which should execute the command</field>
+ <field type="uint8_t" name="target_component">Component which should execute the command, 0 for all components</field>
+ <field type="uint16_t" name="command">Command ID, as defined by MAV_CMD enum.</field>
+ <field type="uint8_t" name="confirmation">0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)</field>
+ <field type="float" name="param1">Parameter 1, as defined by MAV_CMD enum.</field>
+ <field type="float" name="param2">Parameter 2, as defined by MAV_CMD enum.</field>
+ <field type="float" name="param3">Parameter 3, as defined by MAV_CMD enum.</field>
+ <field type="float" name="param4">Parameter 4, as defined by MAV_CMD enum.</field>
+ <field type="float" name="param5">Parameter 5, as defined by MAV_CMD enum.</field>
+ <field type="float" name="param6">Parameter 6, as defined by MAV_CMD enum.</field>
+ <field type="float" name="param7">Parameter 7, as defined by MAV_CMD enum.</field>
+ </message>
+ <message id="77" name="COMMAND_ACK">
+ <description>Report status of a command. Includes feedback wether the command was executed.</description>
+ <field type="uint16_t" name="command">Command ID, as defined by MAV_CMD enum.</field>
+ <field type="uint8_t" name="result">See MAV_RESULT enum</field>
+ </message>
+ <message id="89" name="LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET">
+ <description>The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)</description>
+ <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
+ <field type="float" name="x">X Position</field>
+ <field type="float" name="y">Y Position</field>
+ <field type="float" name="z">Z Position</field>
+ <field type="float" name="roll">Roll</field>
+ <field type="float" name="pitch">Pitch</field>
+ <field type="float" name="yaw">Yaw</field>
+ </message>
+ <message id="90" name="HIL_STATE">
+ <description>Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.</description>
+ <field type="uint64_t" name="time_usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
+ <field type="float" name="roll">Roll angle (rad)</field>
+ <field type="float" name="pitch">Pitch angle (rad)</field>
+ <field type="float" name="yaw">Yaw angle (rad)</field>
+ <field type="float" name="rollspeed">Roll angular speed (rad/s)</field>
+ <field type="float" name="pitchspeed">Pitch angular speed (rad/s)</field>
+ <field type="float" name="yawspeed">Yaw angular speed (rad/s)</field>
+ <field type="int32_t" name="lat">Latitude, expressed as * 1E7</field>
+ <field type="int32_t" name="lon">Longitude, expressed as * 1E7</field>
+ <field type="int32_t" name="alt">Altitude in meters, expressed as * 1000 (millimeters)</field>
+ <field type="int16_t" name="vx">Ground X Speed (Latitude), expressed as m/s * 100</field>
+ <field type="int16_t" name="vy">Ground Y Speed (Longitude), expressed as m/s * 100</field>
+ <field type="int16_t" name="vz">Ground Z Speed (Altitude), expressed as m/s * 100</field>
+ <field type="int16_t" name="xacc">X acceleration (mg)</field>
+ <field type="int16_t" name="yacc">Y acceleration (mg)</field>
+ <field type="int16_t" name="zacc">Z acceleration (mg)</field>
+ </message>
+ <message id="91" name="HIL_CONTROLS">
+ <description>Sent from autopilot to simulation. Hardware in the loop control outputs</description>
+ <field name="time_usec" type="uint64_t">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
+ <field name="roll_ailerons" type="float">Control output -1 .. 1</field>
+ <field name="pitch_elevator" type="float">Control output -1 .. 1</field>
+ <field name="yaw_rudder" type="float">Control output -1 .. 1</field>
+ <field name="throttle" type="float">Throttle 0 .. 1</field>
+ <field name="aux1" type="float">Aux 1, -1 .. 1</field>
+ <field name="aux2" type="float">Aux 2, -1 .. 1</field>
+ <field name="aux3" type="float">Aux 3, -1 .. 1</field>
+ <field name="aux4" type="float">Aux 4, -1 .. 1</field>
+ <field name="mode" type="uint8_t">System mode (MAV_MODE)</field>
+ <field name="nav_mode" type="uint8_t">Navigation mode (MAV_NAV_MODE)</field>
+ </message>
+ <message id="92" name="HIL_RC_INPUTS_RAW">
+ <description>Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.</description>
+ <field type="uint64_t" name="time_usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
+ <field type="uint16_t" name="chan1_raw">RC channel 1 value, in microseconds</field>
+ <field type="uint16_t" name="chan2_raw">RC channel 2 value, in microseconds</field>
+ <field type="uint16_t" name="chan3_raw">RC channel 3 value, in microseconds</field>
+ <field type="uint16_t" name="chan4_raw">RC channel 4 value, in microseconds</field>
+ <field type="uint16_t" name="chan5_raw">RC channel 5 value, in microseconds</field>
+ <field type="uint16_t" name="chan6_raw">RC channel 6 value, in microseconds</field>
+ <field type="uint16_t" name="chan7_raw">RC channel 7 value, in microseconds</field>
+ <field type="uint16_t" name="chan8_raw">RC channel 8 value, in microseconds</field>
+ <field type="uint16_t" name="chan9_raw">RC channel 9 value, in microseconds</field>
+ <field type="uint16_t" name="chan10_raw">RC channel 10 value, in microseconds</field>
+ <field type="uint16_t" name="chan11_raw">RC channel 11 value, in microseconds</field>
+ <field type="uint16_t" name="chan12_raw">RC channel 12 value, in microseconds</field>
+ <field type="uint8_t" name="rssi">Receive signal strength indicator, 0: 0%, 255: 100%</field>
+ </message>
+ <message id="100" name="OPTICAL_FLOW">
+ <description>Optical flow from a flow sensor (e.g. optical mouse sensor)</description>
+ <field type="uint64_t" name="time_usec">Timestamp (UNIX)</field>
+ <field type="uint8_t" name="sensor_id">Sensor ID</field>
+ <field type="int16_t" name="flow_x">Flow in pixels in x-sensor direction</field>
+ <field type="int16_t" name="flow_y">Flow in pixels in y-sensor direction</field>
+ <field type="float" name="flow_comp_m_x">Flow in meters in x-sensor direction, angular-speed compensated</field>
+ <field type="float" name="flow_comp_m_y">Flow in meters in y-sensor direction, angular-speed compensated</field>
+ <field type="uint8_t" name="quality">Optical flow quality / confidence. 0: bad, 255: maximum quality</field>
+ <field type="float" name="ground_distance">Ground distance in meters. Positive value: distance known. Negative value: Unknown distance</field>
+ </message>
+ <message id="101" name="GLOBAL_VISION_POSITION_ESTIMATE">
+ <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
+ <field type="float" name="x">Global X position</field>
+ <field type="float" name="y">Global Y position</field>
+ <field type="float" name="z">Global Z position</field>
+ <field type="float" name="roll">Roll angle in rad</field>
+ <field type="float" name="pitch">Pitch angle in rad</field>
+ <field type="float" name="yaw">Yaw angle in rad</field>
+ </message>
+ <message id="102" name="VISION_POSITION_ESTIMATE">
+ <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
+ <field type="float" name="x">Global X position</field>
+ <field type="float" name="y">Global Y position</field>
+ <field type="float" name="z">Global Z position</field>
+ <field type="float" name="roll">Roll angle in rad</field>
+ <field type="float" name="pitch">Pitch angle in rad</field>
+ <field type="float" name="yaw">Yaw angle in rad</field>
+ </message>
+ <message id="103" name="VISION_SPEED_ESTIMATE">
+ <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
+ <field type="float" name="x">Global X speed</field>
+ <field type="float" name="y">Global Y speed</field>
+ <field type="float" name="z">Global Z speed</field>
+ </message>
+ <message id="104" name="VICON_POSITION_ESTIMATE">
+ <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
+ <field type="float" name="x">Global X position</field>
+ <field type="float" name="y">Global Y position</field>
+ <field type="float" name="z">Global Z position</field>
+ <field type="float" name="roll">Roll angle in rad</field>
+ <field type="float" name="pitch">Pitch angle in rad</field>
+ <field type="float" name="yaw">Yaw angle in rad</field>
+ </message>
+ <!-- MESSAGE IDs 150 - 240: Space for custom messages in individual projectname_messages.xml files -->
+ <message id="249" name="MEMORY_VECT">
+ <description>Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.</description>
+ <field type="uint16_t" name="address">Starting address of the debug variables</field>
+ <field type="uint8_t" name="ver">Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below</field>
+ <field type="uint8_t" name="type">Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14</field>
+ <field type="int8_t[32]" name="value">Memory contents at specified address</field>
+ </message>
+ <message id="250" name="DEBUG_VECT">
+ <field type="char[10]" name="name">Name</field>
+ <field type="uint64_t" name="time_usec">Timestamp</field>
+ <field type="float" name="x">x</field>
+ <field type="float" name="y">y</field>
+ <field type="float" name="z">z</field>
+ </message>
+ <message id="251" name="NAMED_VALUE_FLOAT">
+ <description>Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.</description>
+ <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
+ <field type="char[10]" name="name">Name of the debug variable</field>
+ <field type="float" name="value">Floating point value</field>
+ </message>
+ <message id="252" name="NAMED_VALUE_INT">
+ <description>Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.</description>
+ <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
+ <field type="char[10]" name="name">Name of the debug variable</field>
+ <field type="int32_t" name="value">Signed integer value</field>
+ </message>
+ <message id="253" name="STATUSTEXT">
+ <description>Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).</description>
+ <field type="uint8_t" name="severity">Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.</field>
+ <field type="char[50]" name="text">Status text message, without null termination character</field>
+ </message>
+ <message id="254" name="DEBUG">
+ <description>Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.</description>
+ <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
+ <field type="uint8_t" name="ind">index of debug variable</field>
+ <field type="float" name="value">DEBUG value</field>
+ </message>
+ </messages>
+</mavlink>
diff --git a/libraries/GCS_MAVLink/message_definitions/matrixpilot.xml b/libraries/GCS_MAVLink/message_definitions/matrixpilot.xml
new file mode 100644
index 0000000..9e86eaf
--- /dev/null
+++ b/libraries/GCS_MAVLink/message_definitions/matrixpilot.xml
@@ -0,0 +1,14 @@
+<?xml version='1.0'?>
+<mavlink>
+ <include>common.xml</include>
+ <!-- note that MatrixPilot specific messages should use the command id
+ range from 150 to 250, to leave plenty of room for growth
+ of common.xml
+
+ If you prototype a message here, then you should consider if it
+ is general enough to move into common.xml later
+ -->
+ <messages>
+
+ </messages>
+</mavlink>
diff --git a/libraries/GCS_MAVLink/message_definitions/minimal.xml b/libraries/GCS_MAVLink/message_definitions/minimal.xml
new file mode 100644
index 0000000..88985a5
--- /dev/null
+++ b/libraries/GCS_MAVLink/message_definitions/minimal.xml
@@ -0,0 +1,189 @@
+<?xml version='1.0'?>
+<mavlink>
+ <version>2</version>
+ <enums>
+ <enum name="MAV_AUTOPILOT">
+ <description>Micro air vehicle / autopilot classes. This identifies the individual model.</description>
+ <entry value="0" name="MAV_AUTOPILOT_GENERIC">
+ <description>Generic autopilot, full support for everything</description>
+ </entry>
+ <entry value="1" name="MAV_AUTOPILOT_PIXHAWK">
+ <description>PIXHAWK autopilot, http://pixhawk.ethz.ch</description>
+ </entry>
+ <entry value="2" name="MAV_AUTOPILOT_SLUGS">
+ <description>SLUGS autopilot, http://slugsuav.soe.ucsc.edu</description>
+ </entry>
+ <entry value="3" name="MAV_AUTOPILOT_ARDUPILOTMEGA">
+ <description>ArduPilotMega / ArduCopter, http://diydrones.com</description>
+ </entry>
+ <entry value="4" name="MAV_AUTOPILOT_OPENPILOT">
+ <description>OpenPilot, http://openpilot.org</description>
+ </entry>
+ <entry value="5" name="MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY">
+ <description>Generic autopilot only supporting simple waypoints</description>
+ </entry>
+ <entry value="6" name="MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY">
+ <description>Generic autopilot supporting waypoints and other simple navigation commands</description>
+ </entry>
+ <entry value="7" name="MAV_AUTOPILOT_GENERIC_MISSION_FULL">
+ <description>Generic autopilot supporting the full mission command set</description>
+ </entry>
+ <entry value="8" name="MAV_AUTOPILOT_INVALID">
+ <description>No valid autopilot, e.g. a GCS or other MAVLink component</description>
+ </entry>
+ <entry value="9" name="MAV_AUTOPILOT_PPZ">
+ <description>PPZ UAV - http://nongnu.org/paparazzi</description>
+ </entry>
+ <entry value="10" name="MAV_AUTOPILOT_UDB">
+ <description>UAV Dev Board</description>
+ </entry>
+ <entry value="11" name="MAV_AUTOPILOT_FP">
+ <description>FlexiPilot</description>
+ </entry>
+ </enum>
+ <enum name="MAV_TYPE">
+ <entry value="0" name="MAV_TYPE_GENERIC">
+ <description>Generic micro air vehicle.</description>
+ </entry>
+ <entry value="1" name="MAV_TYPE_FIXED_WING">
+ <description>Fixed wing aircraft.</description>
+ </entry>
+ <entry value="2" name="MAV_TYPE_QUADROTOR">
+ <description>Quadrotor</description>
+ </entry>
+ <entry value="3" name="MAV_TYPE_COAXIAL">
+ <description>Coaxial helicopter</description>
+ </entry>
+ <entry value="4" name="MAV_TYPE_HELICOPTER">
+ <description>Normal helicopter with tail rotor.</description>
+ </entry>
+ <entry value="5" name="MAV_TYPE_ANTENNA_TRACKER">
+ <description>Ground installation</description>
+ </entry>
+ <entry value="6" name="MAV_TYPE_GCS">
+ <description>Operator control unit / ground control station</description>
+ </entry>
+ <entry value="7" name="MAV_TYPE_AIRSHIP">
+ <description>Airship, controlled</description>
+ </entry>
+ <entry value="8" name="MAV_TYPE_FREE_BALLOON">
+ <description>Free balloon, uncontrolled</description>
+ </entry>
+ <entry value="9" name="MAV_TYPE_ROCKET">
+ <description>Rocket</description>
+ </entry>
+ <entry value="10" name="MAV_TYPE_GROUND_ROVER">
+ <description>Ground rover</description>
+ </entry>
+ <entry value="11" name="MAV_TYPE_SURFACE_BOAT">
+ <description>Surface vessel, boat, ship</description>
+ </entry>
+ <entry value="12" name="MAV_TYPE_SUBMARINE">
+ <description>Submarine</description>
+ </entry>
+ <entry value="13" name="MAV_TYPE_HEXAROTOR">
+ <description>Hexarotor</description>
+ </entry>
+ <entry value="14" name="MAV_TYPE_OCTOROTOR">
+ <description>Octorotor</description>
+ </entry>
+ <entry value="15" name="MAV_TYPE_TRICOPTER">
+ <description>Octorotor</description>
+ </entry>
+ <entry value="16" name="MAV_TYPE_FLAPPING_WING">
+ <description>Flapping wing</description>
+ </entry>
+ </enum>
+ <enum name="MAV_MODE_FLAG">
+ <description>These flags encode the MAV mode.</description>
+ <entry value="128" name="MAV_MODE_FLAG_SAFETY_ARMED">
+ <description>0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly.</description>
+ </entry>
+ <entry value="64" name="MAV_MODE_FLAG_MANUAL_INPUT_ENABLED">
+ <description>0b01000000 remote control input is enabled.</description>
+ </entry>
+ <entry value="32" name="MAV_MODE_FLAG_HIL_ENABLED">
+ <description>0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.</description>
+ </entry>
+ <entry value="16" name="MAV_MODE_FLAG_STABILIZE_ENABLED">
+ <description>0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.</description>
+ </entry>
+ <entry value="8" name="MAV_MODE_FLAG_GUIDED_ENABLED">
+ <description>0b00001000 guided mode enabled, system flies MISSIONs / mission items.</description>
+ </entry>
+ <entry value="4" name="MAV_MODE_FLAG_AUTO_ENABLED">
+ <description>0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.</description>
+ </entry>
+ <entry value="2" name="MAV_MODE_FLAG_TEST_ENABLED">
+ <description>0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.</description>
+ </entry>
+ <entry value="1" name="MAV_MODE_FLAG_CUSTOM_MODE_ENABLED">
+ <description>0b00000001 Reserved for future use.</description>
+ </entry>
+ </enum>
+ <enum name="MAV_MODE_FLAG_DECODE_POSITION">
+ <description>These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.</description>
+ <entry value="128" name="MAV_MODE_FLAG_DECODE_POSITION_SAFETY">
+ <description>First bit: 10000000</description>
+ </entry>
+ <entry value="64" name="MAV_MODE_FLAG_DECODE_POSITION_MANUAL">
+ <description>Second bit: 01000000</description>
+ </entry>
+ <entry value="32" name="MAV_MODE_FLAG_DECODE_POSITION_HIL">
+ <description>Third bit: 00100000</description>
+ </entry>
+ <entry value="16" name="MAV_MODE_FLAG_DECODE_POSITION_STABILIZE">
+ <description>Fourth bit: 00010000</description>
+ </entry>
+ <entry value="8" name="MAV_MODE_FLAG_DECODE_POSITION_GUIDED">
+ <description>Fifth bit: 00001000</description>
+ </entry>
+ <entry value="4" name="MAV_MODE_FLAG_DECODE_POSITION_AUTO">
+ <description>Sixt bit: 00000100</description>
+ </entry>
+ <entry value="2" name="MAV_MODE_FLAG_DECODE_POSITION_TEST">
+ <description>Seventh bit: 00000010</description>
+ </entry>
+ <entry value="1" name="MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE">
+ <description>Eighth bit: 00000001</description>
+ </entry>
+ </enum>
+ <enum name="MAV_STATE">
+ <entry value="0" name="MAV_STATE_UNINIT">
+ <description>Uninitialized system, state is unknown.</description>
+ </entry>
+ <entry name="MAV_STATE_BOOT">
+ <description>System is booting up.</description>
+ </entry>
+ <entry name="MAV_STATE_CALIBRATING">
+ <description>System is calibrating and not flight-ready.</description>
+ </entry>
+ <entry name="MAV_STATE_STANDBY">
+ <description>System is grounded and on standby. It can be launched any time.</description>
+ </entry>
+ <entry name="MAV_STATE_ACTIVE">
+ <description>System is active and might be already airborne. Motors are engaged.</description>
+ </entry>
+ <entry name="MAV_STATE_CRITICAL">
+ <description>System is in a non-normal flight mode. It can however still navigate.</description>
+ </entry>
+ <entry name="MAV_STATE_EMERGENCY">
+ <description>System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.</description>
+ </entry>
+ <entry name="MAV_STATE_POWEROFF">
+ <description>System just initialized its power-down sequence, will shut down now.</description>
+ </entry>
+ </enum>
+ </enums>
+ <messages>
+ <message id="0" name="HEARTBEAT">
+ <description>The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot).</description>
+ <field type="uint8_t" name="type">Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)</field>
+ <field type="uint8_t" name="autopilot">Autopilot type / class. defined in MAV_AUTOPILOT ENUM</field>
+ <field type="uint8_t" name="base_mode">System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h</field>
+ <field type="uint32_t" name="custom_mode">A bitfield for use for autopilot-specific flags.</field>
+ <field type="uint8_t" name="system_status">System status flag, see MAV_STATE ENUM</field>
+ <field type="uint8_t_mavlink_version" name="mavlink_version">MAVLink version</field>
+ </message>
+ </messages>
+</mavlink>
diff --git a/libraries/GCS_MAVLink/message_definitions/pixhawk.xml b/libraries/GCS_MAVLink/message_definitions/pixhawk.xml
new file mode 100644
index 0000000..3c38b0b
--- /dev/null
+++ b/libraries/GCS_MAVLink/message_definitions/pixhawk.xml
@@ -0,0 +1,210 @@
+<?xml version='1.0'?>
+<mavlink>
+ <include>common.xml</include>
+ <enums>
+ <enum name="DATA_TYPES">
+ <description>Content Types for data transmission handshake</description>
+ <entry value="1" name="DATA_TYPE_JPEG_IMAGE"/>
+ <entry value="2" name="DATA_TYPE_RAW_IMAGE"/>
+ <entry value="3" name="DATA_TYPE_KINECT"/>
+ </enum>
+ <enum name="MAV_CMD">
+ <!-- 1-10000 reserved for common commands -->
+ <entry value="10001" name="MAV_CMD_DO_START_SEARCH">
+ <description>Starts a search</description>
+ <param index="1">1 to arm, 0 to disarm</param>
+ </entry>
+ <entry value="10002" name="MAV_CMD_DO_FINISH_SEARCH">
+ <description>Starts a search</description>
+ <param index="1">1 to arm, 0 to disarm</param>
+ </entry>
+ <entry value="10003" name="MAV_CMD_NAV_SWEEP">
+ <description>Starts a search</description>
+ <param index="1">1 to arm, 0 to disarm</param>
+ </entry>
+ </enum>
+ </enums>
+ <messages>
+ <message id="151" name="SET_CAM_SHUTTER">
+ <field type="uint8_t" name="cam_no">Camera id</field>
+ <field type="uint8_t" name="cam_mode">Camera mode: 0 = auto, 1 = manual</field>
+ <field type="uint8_t" name="trigger_pin">Trigger pin, 0-3 for PtGrey FireFly</field>
+ <field type="uint16_t" name="interval">Shutter interval, in microseconds</field>
+ <field type="uint16_t" name="exposure">Exposure time, in microseconds</field>
+ <field type="float" name="gain">Camera gain</field>
+ </message>
+ <message id="152" name="IMAGE_TRIGGERED">
+ <field type="uint64_t" name="timestamp">Timestamp</field>
+ <field type="uint32_t" name="seq">IMU seq</field>
+ <field type="float" name="roll">Roll angle in rad</field>
+ <field type="float" name="pitch">Pitch angle in rad</field>
+ <field type="float" name="yaw">Yaw angle in rad</field>
+ <field type="float" name="local_z">Local frame Z coordinate (height over ground)</field>
+ <field type="float" name="lat">GPS X coordinate</field>
+ <field type="float" name="lon">GPS Y coordinate</field>
+ <field type="float" name="alt">Global frame altitude</field>
+ <field type="float" name="ground_x">Ground truth X</field>
+ <field type="float" name="ground_y">Ground truth Y</field>
+ <field type="float" name="ground_z">Ground truth Z</field>
+ </message>
+ <message id="153" name="IMAGE_TRIGGER_CONTROL">
+ <field type="uint8_t" name="enable">0 to disable, 1 to enable</field>
+ </message>
+ <message id="154" name="IMAGE_AVAILABLE">
+ <field type="uint64_t" name="cam_id">Camera id</field>
+ <field type="uint8_t" name="cam_no">Camera # (starts with 0)</field>
+ <field type="uint64_t" name="timestamp">Timestamp</field>
+ <field type="uint64_t" name="valid_until">Until which timestamp this buffer will stay valid</field>
+ <field type="uint32_t" name="img_seq">The image sequence number</field>
+ <field type="uint32_t" name="img_buf_index">Position of the image in the buffer, starts with 0</field>
+ <field type="uint16_t" name="width">Image width</field>
+ <field type="uint16_t" name="height">Image height</field>
+ <field type="uint16_t" name="depth">Image depth</field>
+ <field type="uint8_t" name="channels">Image channels</field>
+ <field type="uint32_t" name="key">Shared memory area key</field>
+ <field type="uint32_t" name="exposure">Exposure time, in microseconds</field>
+ <field type="float" name="gain">Camera gain</field>
+ <field type="float" name="roll">Roll angle in rad</field>
+ <field type="float" name="pitch">Pitch angle in rad</field>
+ <field type="float" name="yaw">Yaw angle in rad</field>
+ <field type="float" name="local_z">Local frame Z coordinate (height over ground)</field>
+ <field type="float" name="lat">GPS X coordinate</field>
+ <field type="float" name="lon">GPS Y coordinate</field>
+ <field type="float" name="alt">Global frame altitude</field>
+ <field type="float" name="ground_x">Ground truth X</field>
+ <field type="float" name="ground_y">Ground truth Y</field>
+ <field type="float" name="ground_z">Ground truth Z</field>
+ </message>
+ <message id="160" name="SET_POSITION_CONTROL_OFFSET">
+ <description>Message sent to the MAV to set a new offset from the currently controlled position</description>
+ <field type="uint8_t" name="target_system">System ID</field>
+ <field type="uint8_t" name="target_component">Component ID</field>
+ <field type="float" name="x">x position offset</field>
+ <field type="float" name="y">y position offset</field>
+ <field type="float" name="z">z position offset</field>
+ <field type="float" name="yaw">yaw orientation offset in radians, 0 = NORTH</field>
+ </message>
+ <!-- Message sent by the MAV once it sets a new position as reference in the controller -->
+ <message id="170" name="POSITION_CONTROL_SETPOINT">
+ <field type="uint16_t" name="id">ID of waypoint, 0 for plain position</field>
+ <field type="float" name="x">x position</field>
+ <field type="float" name="y">y position</field>
+ <field type="float" name="z">z position</field>
+ <field type="float" name="yaw">yaw orientation in radians, 0 = NORTH</field>
+ </message>
+ <message id="171" name="MARKER">
+ <field type="uint16_t" name="id">ID</field>
+ <field type="float" name="x">x position</field>
+ <field type="float" name="y">y position</field>
+ <field type="float" name="z">z position</field>
+ <field type="float" name="roll">roll orientation</field>
+ <field type="float" name="pitch">pitch orientation</field>
+ <field type="float" name="yaw">yaw orientation</field>
+ </message>
+ <message id="172" name="RAW_AUX">
+ <field type="uint16_t" name="adc1">ADC1 (J405 ADC3, LPC2148 AD0.6)</field>
+ <field type="uint16_t" name="adc2">ADC2 (J405 ADC5, LPC2148 AD0.2)</field>
+ <field type="uint16_t" name="adc3">ADC3 (J405 ADC6, LPC2148 AD0.1)</field>
+ <field type="uint16_t" name="adc4">ADC4 (J405 ADC7, LPC2148 AD1.3)</field>
+ <field type="uint16_t" name="vbat">Battery voltage</field>
+ <field type="int16_t" name="temp">Temperature (degrees celcius)</field>
+ <field type="int32_t" name="baro">Barometric pressure (hecto Pascal)</field>
+ </message>
+ <message id="180" name="WATCHDOG_HEARTBEAT">
+ <field type="uint16_t" name="watchdog_id">Watchdog ID</field>
+ <field type="uint16_t" name="process_count">Number of processes</field>
+ </message>
+ <message id="181" name="WATCHDOG_PROCESS_INFO">
+ <field type="uint16_t" name="watchdog_id">Watchdog ID</field>
+ <field type="uint16_t" name="process_id">Process ID</field>
+ <field type="char[100]" name="name">Process name</field>
+ <field type="char[147]" name="arguments">Process arguments</field>
+ <field type="int32_t" name="timeout">Timeout (seconds)</field>
+ </message>
+ <message id="182" name="WATCHDOG_PROCESS_STATUS">
+ <field type="uint16_t" name="watchdog_id">Watchdog ID</field>
+ <field type="uint16_t" name="process_id">Process ID</field>
+ <field type="uint8_t" name="state">Is running / finished / suspended / crashed</field>
+ <field type="uint8_t" name="muted">Is muted</field>
+ <field type="int32_t" name="pid">PID</field>
+ <field type="uint16_t" name="crashes">Number of crashes</field>
+ </message>
+ <message id="183" name="WATCHDOG_COMMAND">
+ <field type="uint8_t" name="target_system_id">Target system ID</field>
+ <field type="uint16_t" name="watchdog_id">Watchdog ID</field>
+ <field type="uint16_t" name="process_id">Process ID</field>
+ <field type="uint8_t" name="command_id">Command ID</field>
+ </message>
+ <message id="190" name="PATTERN_DETECTED">
+ <field type="uint8_t" name="type">0: Pattern, 1: Letter</field>
+ <field type="float" name="confidence">Confidence of detection</field>
+ <field type="char[100]" name="file">Pattern file name</field>
+ <field type="uint8_t" name="detected">Accepted as true detection, 0 no, 1 yes</field>
+ </message>
+ <message id="191" name="POINT_OF_INTEREST">
+ <description>Notifies the operator about a point of interest (POI). This can be anything detected by the
+ system. This generic message is intented to help interfacing to generic visualizations and to display
+ the POI on a map.
+ </description>
+ <field type="uint8_t" name="type">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field>
+ <field type="uint8_t" name="color">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field>
+ <field type="uint8_t" name="coordinate_system">0: global, 1:local</field>
+ <field type="uint16_t" name="timeout">0: no timeout, >1: timeout in seconds</field>
+ <field type="float" name="x">X Position</field>
+ <field type="float" name="y">Y Position</field>
+ <field type="float" name="z">Z Position</field>
+ <field type="char[26]" name="name">POI name</field>
+ </message>
+ <message id="192" name="POINT_OF_INTEREST_CONNECTION">
+ <description>Notifies the operator about the connection of two point of interests (POI). This can be anything detected by the
+ system. This generic message is intented to help interfacing to generic visualizations and to display
+ the POI on a map.
+ </description>
+ <field type="uint8_t" name="type">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field>
+ <field type="uint8_t" name="color">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field>
+ <field type="uint8_t" name="coordinate_system">0: global, 1:local</field>
+ <field type="uint16_t" name="timeout">0: no timeout, >1: timeout in seconds</field>
+ <field type="float" name="xp1">X1 Position</field>
+ <field type="float" name="yp1">Y1 Position</field>
+ <field type="float" name="zp1">Z1 Position</field>
+ <field type="float" name="xp2">X2 Position</field>
+ <field type="float" name="yp2">Y2 Position</field>
+ <field type="float" name="zp2">Z2 Position</field>
+ <field type="char[26]" name="name">POI connection name</field>
+ </message>
+ <message id="193" name="DATA_TRANSMISSION_HANDSHAKE">
+ <field type="uint8_t" name="type">type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)</field>
+ <field type="uint32_t" name="size">total data size in bytes (set on ACK only)</field>
+ <field type="uint16_t" name="width">Width of a matrix or image</field>
+ <field type="uint16_t" name="height">Height of a matrix or image</field>
+ <field type="uint8_t" name="packets">number of packets beeing sent (set on ACK only)</field>
+ <field type="uint8_t" name="payload">payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)</field>
+ <field type="uint8_t" name="jpg_quality">JPEG quality out of [1,100]</field>
+ </message>
+ <message id="194" name="ENCAPSULATED_DATA">
+ <field type="uint16_t" name="seqnr">sequence number (starting with 0 on every transmission)</field>
+ <field type="uint8_t[253]" name="data">image data bytes</field>
+ </message>
+ <message id="195" name="BRIEF_FEATURE">
+ <field type="float" name="x">x position in m</field>
+ <field type="float" name="y">y position in m</field>
+ <field type="float" name="z">z position in m</field>
+ <field type="uint8_t" name="orientation_assignment">Orientation assignment 0: false, 1:true</field>
+ <field type="uint16_t" name="size">Size in pixels</field>
+ <field type="uint16_t" name="orientation">Orientation</field>
+ <field type="uint8_t[32]" name="descriptor">Descriptor</field>
+ <field type="float" name="response">Harris operator response at this location</field>
+ </message>
+ <message id="200" name="ATTITUDE_CONTROL">
+ <field type="uint8_t" name="target">The system to be controlled</field>
+ <field type="float" name="roll">roll</field>
+ <field type="float" name="pitch">pitch</field>
+ <field type="float" name="yaw">yaw</field>
+ <field type="float" name="thrust">thrust</field>
+ <field type="uint8_t" name="roll_manual">roll control enabled auto:0, manual:1</field>
+ <field type="uint8_t" name="pitch_manual">pitch auto:0, manual:1</field>
+ <field type="uint8_t" name="yaw_manual">yaw auto:0, manual:1</field>
+ <field type="uint8_t" name="thrust_manual">thrust auto:0, manual:1</field>
+ </message>
+ </messages>
+</mavlink>
diff --git a/libraries/GCS_MAVLink/message_definitions/sensesoar.xml b/libraries/GCS_MAVLink/message_definitions/sensesoar.xml
new file mode 100644
index 0000000..4c7140f
--- /dev/null
+++ b/libraries/GCS_MAVLink/message_definitions/sensesoar.xml
@@ -0,0 +1,83 @@
+<?xml version='1.0'?>
+<mavlink>
+ <include>common.xml</include>
+ <enums>
+ <enum name="SENSESOAR_MODE">
+ <description> Different flight modes </description>
+ <entry name="SENSESOAR_MODE_GLIDING"> Gliding mode with motors off</entry>
+ <entry name="SENSESOAR_MODE_AUTONOMOUS"> Autonomous flight</entry>
+ <entry name="SENSESOAR_MODE_MANUAL"> RC controlled</entry>
+ </enum>
+ </enums>
+ <messages>
+ <message id="170" name="OBS_POSITION">
+ Position estimate of the observer in global frame
+ <field type="int32_t" name="lon">Longitude expressed in 1E7</field>
+ <field type="int32_t" name="lat">Latitude expressed in 1E7</field>
+ <field type="int32_t" name="alt">Altitude expressed in milimeters</field>
+ </message>
+ <message id="172" name="OBS_VELOCITY">
+ velocity estimate of the observer in NED inertial frame
+ <field type="float[3]" name="vel">Velocity</field>
+ </message>
+ <message id="174" name="OBS_ATTITUDE">
+ attitude estimate of the observer
+ <field type="double[4]" name="quat">Quaternion re;im</field>
+ </message>
+ <message id="176" name="OBS_WIND">
+ Wind estimate in NED inertial frame
+ <field type="float[3]" name="wind">Wind</field>
+ </message>
+ <message id="178" name="OBS_AIR_VELOCITY">
+ Estimate of the air velocity
+ <field type="float" name="magnitude">Air speed</field>
+ <field type="float" name="aoa">angle of attack</field>
+ <field type="float" name="slip">slip angle</field>
+ </message>
+ <message id="180" name="OBS_BIAS">
+ IMU biases
+ <field type="float[3]" name="accBias">accelerometer bias</field>
+ <field type="float[3]" name="gyroBias">gyroscope bias</field>
+ </message>
+ <message id="182" name="OBS_QFF">
+ estimate of the pressure at sea level
+ <field type="float" name="qff">Wind</field>
+ </message>
+ <message id="183" name="OBS_AIR_TEMP">
+ ambient air temperature
+ <field type="float" name="airT">Air Temperatur</field>
+ </message>
+ <message id="184" name="FILT_ROT_VEL">
+ filtered rotational velocity
+ <field type="float[3]" name="rotVel">rotational velocity</field>
+ </message>
+ <message id="186" name="LLC_OUT">
+ low level control output
+ <field type="int16_t[4]" name="servoOut">Servo signal</field>
+ <field type="int16_t[2]" name="MotorOut">motor signal</field>
+ </message>
+ <message id="188" name="PM_ELEC">
+ Power managment
+ <field type="float" name="PwCons">current power consumption</field>
+ <field type="float" name="BatStat">battery status</field>
+ <field type="float[3]" name="PwGen">Power generation from each module</field>
+ </message>
+ <message id="190" name="SYS_Stat">
+ system status
+ <field type="uint8_t" name="gps">gps status</field>
+ <field type="uint8_t" name="act">actuator status</field>
+ <field type="uint8_t" name="mod">module status</field>
+ <field type="uint8_t" name="commRssi">module status</field>
+ </message>
+ <message id="192" name="CMD_AIRSPEED_CHNG">
+ change commanded air speed
+ <field type="uint8_t" name="target">Target ID</field>
+ <field type="float" name="spCmd">commanded airspeed</field>
+ </message>
+ <message id="194" name="CMD_AIRSPEED_ACK">
+ accept change of airspeed
+ <field type="float" name="spCmd">commanded airspeed</field>
+ <field type="uint8_t" name="ack">0:ack, 1:nack</field>
+ </message>
+ </messages>
+</mavlink>
diff --git a/libraries/GCS_MAVLink/message_definitions/slugs.xml b/libraries/GCS_MAVLink/message_definitions/slugs.xml
new file mode 100644
index 0000000..f8644c5
--- /dev/null
+++ b/libraries/GCS_MAVLink/message_definitions/slugs.xml
@@ -0,0 +1,144 @@
+<?xml version="1.0"?>
+<mavlink>
+ <include>common.xml</include>
+
+ <!-- <enums>
+ <enum name="SLUGS_ACTION" >
+ <description> Slugs Actions </description>
+ <entry name = "SLUGS_ACTION_NONE">
+ <entry name = "SLUGS_ACTION_SUCCESS">
+ <entry name = "SLUGS_ACTION_FAIL">
+ <entry name = "SLUGS_ACTION_EEPROM">
+ <entry name = "SLUGS_ACTION_MODE_CHANGE">
+ <entry name = "SLUGS_ACTION_MODE_REPORT">
+ <entry name = "SLUGS_ACTION_PT_CHANGE">
+ <entry name = "SLUGS_ACTION_PT_REPORT">
+ <entry name = "SLUGS_ACTION_PID_CHANGE">
+ <entry name = "SLUGS_ACTION_PID_REPORT">
+ <entry name = "SLUGS_ACTION_WP_CHANGE">
+ <entry name = "SLUGS_ACTION_WP_REPORT">
+ <entry name = "SLUGS_ACTION_MLC_CHANGE">
+ <entry name = "SLUGS_ACTION_MLC_REPORT">
+ </enum>
+
+ <enum name="WP_PROTOCOL_STATE" >
+ <description> Waypoint Protocol States </description>
+ <entry name = "WP_PROT_IDLE">
+ <entry name = "WP_PROT_LIST_REQUESTED">
+ <entry name = "WP_PROT_NUM_SENT">
+ <entry name = "WP_PROT_TX_WP">
+ <entry name = "WP_PROT_RX_WP">
+ <entry name = "WP_PROT_SENDING_WP_IDLE">
+ <entry name = "WP_PROT_GETTING_WP_IDLE">
+ </enum>
+
+</enums> -->
+
+ <messages>
+
+ <message name="CPU_LOAD" id="170">
+ Sensor and DSC control loads.
+ <field name="sensLoad" type="uint8_t">Sensor DSC Load</field>
+ <field name="ctrlLoad" type="uint8_t">Control DSC Load</field>
+ <field name="batVolt" type="uint16_t">Battery Voltage in millivolts</field>
+ </message>
+
+ <message name="AIR_DATA" id="171">
+ Air data for altitude and airspeed computation.
+ <field name="dynamicPressure" type="float">Dynamic pressure (Pa)</field>
+ <field name="staticPressure" type="float">Static pressure (Pa)</field>
+ <field name="temperature" type="uint16_t">Board temperature</field>
+ </message>
+
+ <message name="SENSOR_BIAS" id="172">
+ Accelerometer and gyro biases.
+ <field name="axBias" type="float">Accelerometer X bias (m/s)</field>
+ <field name="ayBias" type="float">Accelerometer Y bias (m/s)</field>
+ <field name="azBias" type="float">Accelerometer Z bias (m/s)</field>
+ <field name="gxBias" type="float">Gyro X bias (rad/s)</field>
+ <field name="gyBias" type="float">Gyro Y bias (rad/s)</field>
+ <field name="gzBias" type="float">Gyro Z bias (rad/s)</field>
+ </message>
+
+ <message name="DIAGNOSTIC" id="173">
+ Configurable diagnostic messages.
+ <field name="diagFl1" type="float">Diagnostic float 1</field>
+ <field name="diagFl2" type="float">Diagnostic float 2</field>
+ <field name="diagFl3" type="float">Diagnostic float 3</field>
+ <field name="diagSh1" type="int16_t">Diagnostic short 1</field>
+ <field name="diagSh2" type="int16_t">Diagnostic short 2</field>
+ <field name="diagSh3" type="int16_t">Diagnostic short 3</field>
+ </message>
+
+ <message name="SLUGS_NAVIGATION" id="176">
+ Data used in the navigation algorithm.
+ <field name="u_m" type="float">Measured Airspeed prior to the Nav Filter</field>
+ <field name="phi_c" type="float">Commanded Roll</field>
+ <field name="theta_c" type="float">Commanded Pitch</field>
+ <field name="psiDot_c" type="float">Commanded Turn rate</field>
+ <field name="ay_body" type="float">Y component of the body acceleration</field>
+ <field name="totalDist" type="float">Total Distance to Run on this leg of Navigation</field>
+ <field name="dist2Go" type="float">Remaining distance to Run on this leg of Navigation</field>
+ <field name="fromWP" type="uint8_t">Origin WP</field>
+ <field name="toWP" type="uint8_t">Destination WP</field>
+ </message>
+
+ <message name="DATA_LOG" id="177">
+ Configurable data log probes to be used inside Simulink
+ <field name="fl_1" type="float">Log value 1 </field>
+ <field name="fl_2" type="float">Log value 2 </field>
+ <field name="fl_3" type="float">Log value 3 </field>
+ <field name="fl_4" type="float">Log value 4 </field>
+ <field name="fl_5" type="float">Log value 5 </field>
+ <field name="fl_6" type="float">Log value 6 </field>
+ </message>
+
+ <message name="GPS_DATE_TIME" id="179">
+ Pilot console PWM messges.
+ <field name="year" type="uint8_t">Year reported by Gps </field>
+ <field name="month" type="uint8_t">Month reported by Gps </field>
+ <field name="day" type="uint8_t">Day reported by Gps </field>
+ <field name="hour" type="uint8_t">Hour reported by Gps </field>
+ <field name="min" type="uint8_t">Min reported by Gps </field>
+ <field name="sec" type="uint8_t">Sec reported by Gps </field>
+ <field name="visSat" type="uint8_t">Visible sattelites reported by Gps </field>
+ </message>
+
+ <message name="MID_LVL_CMDS" id="180">
+ Mid Level commands sent from the GS to the autopilot. These are only sent when being opperated in mid-level commands mode from the ground; for periodic report of these commands generated from the autopilot see message XXXX.
+ <field name="target" type="uint8_t">The system setting the commands</field>
+ <field name="hCommand" type="float">Commanded Airspeed</field>
+ <field name="uCommand" type="float">Log value 2 </field>
+ <field name="rCommand" type="float">Log value 3 </field>
+ </message>
+
+
+ <message name="CTRL_SRFC_PT" id="181">
+ This message configures the Selective Passthrough mode. it allows to select which control surfaces the Pilot can control from his console. It is implemented as a bitfield as follows:
+ Position Bit Code
+ =================================
+ 15-8 Reserved
+ 7 dt_pass 128
+ 6 dla_pass 64
+ 5 dra_pass 32
+ 4 dr_pass 16
+ 3 dle_pass 8
+ 2 dre_pass 4
+ 1 dlf_pass 2
+ 0 drf_pass 1
+ Where Bit 15 is the MSb. 0 = AP has control of the surface; 1 = Pilot Console has control of the surface.
+ <field name="target" type="uint8_t">The system setting the commands</field>
+ <field name="bitfieldPt" type="uint16_t">Bitfield containing the PT configuration</field>
+ </message>
+
+
+
+ <message name="SLUGS_ACTION" id="183">
+ Action messages focused on the SLUGS AP.
+ <field name="target" type="uint8_t">The system reporting the action</field>
+ <field name="actionId" type="uint8_t">Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names</field>
+ <field name="actionVal" type="uint16_t">Value associated with the action</field>
+ </message>
+
+ </messages>
+</mavlink>
diff --git a/libraries/GCS_MAVLink/message_definitions/test.xml b/libraries/GCS_MAVLink/message_definitions/test.xml
new file mode 100644
index 0000000..02bc032
--- /dev/null
+++ b/libraries/GCS_MAVLink/message_definitions/test.xml
@@ -0,0 +1,31 @@
+<?xml version='1.0'?>
+<mavlink>
+ <version>3</version>
+ <messages>
+ <message id="0" name="TEST_TYPES">
+ <description>Test all field types</description>
+ <field type="char" name="c">char</field>
+ <field type="char[10]" name="s">string</field>
+ <field type="uint8_t" name="u8">uint8_t</field>
+ <field type="uint16_t" name="u16">uint16_t</field>
+ <field print_format="0x%08x" type="uint32_t" name="u32">uint32_t</field>
+ <field type="uint64_t" name="u64">uint64_t</field>
+ <field type="int8_t" name="s8">int8_t</field>
+ <field type="int16_t" name="s16">int16_t</field>
+ <field type="int32_t" name="s32">int32_t</field>
+ <field type="int64_t" name="s64">int64_t</field>
+ <field type="float" name="f">float</field>
+ <field type="double" name="d">double</field>
+ <field type="uint8_t[3]" name="u8_array">uint8_t_array</field>
+ <field type="uint16_t[3]" name="u16_array">uint16_t_array</field>
+ <field type="uint32_t[3]" name="u32_array">uint32_t_array</field>
+ <field type="uint64_t[3]" name="u64_array">uint64_t_array</field>
+ <field type="int8_t[3]" name="s8_array">int8_t_array</field>
+ <field type="int16_t[3]" name="s16_array">int16_t_array</field>
+ <field type="int32_t[3]" name="s32_array">int32_t_array</field>
+ <field type="int64_t[3]" name="s64_array">int64_t_array</field>
+ <field type="float[3]" name="f_array">float_array</field>
+ <field type="double[3]" name="d_array">double_array</field>
+ </message>
+ </messages>
+</mavlink>
diff --git a/libraries/GCS_MAVLink/message_definitions/ualberta.xml b/libraries/GCS_MAVLink/message_definitions/ualberta.xml
new file mode 100644
index 0000000..5e53e14
--- /dev/null
+++ b/libraries/GCS_MAVLink/message_definitions/ualberta.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0'?>
+<mavlink>
+ <include>common.xml</include>
+ <enums>
+ <enum name="UALBERTA_AUTOPILOT_MODE">
+ <description>Available autopilot modes for ualberta uav</description>
+ <entry name="MODE_MANUAL_DIRECT">Raw input pulse widts sent to output</entry>
+ <entry name="MODE_MANUAL_SCALED">Inputs are normalized using calibration, the converted back to raw pulse widths for output</entry>
+ <entry name="MODE_AUTO_PID_ATT"> dfsdfs</entry>
+ <entry name="MODE_AUTO_PID_VEL"> dfsfds</entry>
+ <entry name="MODE_AUTO_PID_POS"> dfsdfsdfs</entry>
+ </enum>
+ <enum name="UALBERTA_NAV_MODE">
+ <description>Navigation filter mode</description>
+ <entry name="NAV_AHRS_INIT" />
+ <entry name="NAV_AHRS">AHRS mode</entry>
+ <entry name="NAV_INS_GPS_INIT">INS/GPS initialization mode</entry>
+ <entry name="NAV_INS_GPS">INS/GPS mode</entry>
+ </enum>
+ <enum name="UALBERTA_PILOT_MODE">
+ <description>Mode currently commanded by pilot</description>
+ <entry name="PILOT_MANUAL"> sdf</entry>
+ <entry name="PILOT_AUTO"> dfs</entry>
+ <entry name="PILOT_ROTO"> Rotomotion mode </entry>
+ </enum>
+ </enums>
+ <messages>
+ <message id="220" name="NAV_FILTER_BIAS">
+ <description>Accelerometer and Gyro biases from the navigation filter</description>
+ <field type="uint64_t" name="usec">Timestamp (microseconds)</field>
+ <field type="float" name="accel_0">b_f[0]</field>
+ <field type="float" name="accel_1">b_f[1]</field>
+ <field type="float" name="accel_2">b_f[2]</field>
+ <field type="float" name="gyro_0">b_f[0]</field>
+ <field type="float" name="gyro_1">b_f[1]</field>
+ <field type="float" name="gyro_2">b_f[2]</field>
+ </message>
+ <message id="221" name="RADIO_CALIBRATION">
+ <description>Complete set of calibration parameters for the radio</description>
+ <field type="uint16_t[3]" name="aileron">Aileron setpoints: left, center, right</field>
+ <field type="uint16_t[3]" name="elevator">Elevator setpoints: nose down, center, nose up</field>
+ <field type="uint16_t[3]" name="rudder">Rudder setpoints: nose left, center, nose right</field>
+ <field type="uint16_t[2]" name="gyro">Tail gyro mode/gain setpoints: heading hold, rate mode</field>
+ <field type="uint16_t[5]" name="pitch">Pitch curve setpoints (every 25%)</field>
+ <field type="uint16_t[5]" name="throttle">Throttle curve setpoints (every 25%)</field>
+ </message>
+ <message id="222" name="UALBERTA_SYS_STATUS">
+ <description>System status specific to ualberta uav</description>
+ <field type="uint8_t" name="mode">System mode, see UALBERTA_AUTOPILOT_MODE ENUM</field>
+ <field type="uint8_t" name="nav_mode">Navigation mode, see UALBERTA_NAV_MODE ENUM</field>
+ <field type="uint8_t" name="pilot">Pilot mode, see UALBERTA_PILOT_MODE</field>
+ </message>
+ </messages>
+</mavlink>
diff --git a/libraries/readme.txt b/libraries/readme.txt
new file mode 100644
index 0000000..a8f1390
--- /dev/null
+++ b/libraries/readme.txt
@@ -0,0 +1 @@
+For information on installing libraries, see: http://arduino.cc/en/Guide/Libraries
--
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