Michael Shimniok / Mbed 2 deprecated AVC_2012

Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.

Dependencies:   Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo

MAVlink/include/mavlink_types.h@0:826c6171fc1b, 2012-06-20 (annotated)

Committer:
shimniok
Date:
Wed Jun 20 14:57:48 2012 +0000
Revision:
0:826c6171fc1b
Updated documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:826c6171fc1b 1 #ifndef MAVLINK_TYPES_H_
shimniok 0:826c6171fc1b 2 #define MAVLINK_TYPES_H_
shimniok 0:826c6171fc1b 3
shimniok 0:826c6171fc1b 4 #include "inttypes.h"
shimniok 0:826c6171fc1b 5
shimniok 0:826c6171fc1b 6 enum MAV_CLASS
shimniok 0:826c6171fc1b 7 {
shimniok 0:826c6171fc1b 8 MAV_CLASS_GENERIC = 0, ///< Generic autopilot, full support for everything
shimniok 0:826c6171fc1b 9 MAV_CLASS_PIXHAWK = 1, ///< PIXHAWK autopilot, http://pixhawk.ethz.ch
shimniok 0:826c6171fc1b 10 MAV_CLASS_SLUGS = 2, ///< SLUGS autopilot, http://slugsuav.soe.ucsc.edu
shimniok 0:826c6171fc1b 11 MAV_CLASS_ARDUPILOTMEGA = 3, ///< ArduPilotMega / ArduCopter, http://diydrones.com
shimniok 0:826c6171fc1b 12 MAV_CLASS_OPENPILOT = 4, ///< OpenPilot, http://openpilot.org
shimniok 0:826c6171fc1b 13 MAV_CLASS_GENERIC_MISSION_WAYPOINTS_ONLY = 5, ///< Generic autopilot only supporting simple waypoints
shimniok 0:826c6171fc1b 14 MAV_CLASS_GENERIC_MISSION_NAVIGATION_ONLY = 6, ///< Generic autopilot supporting waypoints and other simple navigation commands
shimniok 0:826c6171fc1b 15 MAV_CLASS_GENERIC_MISSION_FULL = 7, ///< Generic autopilot supporting the full mission command set
shimniok 0:826c6171fc1b 16 MAV_CLASS_NONE = 8, ///< No valid autopilot
shimniok 0:826c6171fc1b 17 MAV_CLASS_NB ///< Number of autopilot classes
shimniok 0:826c6171fc1b 18 };
shimniok 0:826c6171fc1b 19
shimniok 0:826c6171fc1b 20 enum MAV_ACTION
shimniok 0:826c6171fc1b 21 {
shimniok 0:826c6171fc1b 22 MAV_ACTION_HOLD = 0,
shimniok 0:826c6171fc1b 23 MAV_ACTION_MOTORS_START = 1,
shimniok 0:826c6171fc1b 24 MAV_ACTION_LAUNCH = 2,
shimniok 0:826c6171fc1b 25 MAV_ACTION_RETURN = 3,
shimniok 0:826c6171fc1b 26 MAV_ACTION_EMCY_LAND = 4,
shimniok 0:826c6171fc1b 27 MAV_ACTION_EMCY_KILL = 5,
shimniok 0:826c6171fc1b 28 MAV_ACTION_CONFIRM_KILL = 6,
shimniok 0:826c6171fc1b 29 MAV_ACTION_CONTINUE = 7,
shimniok 0:826c6171fc1b 30 MAV_ACTION_MOTORS_STOP = 8,
shimniok 0:826c6171fc1b 31 MAV_ACTION_HALT = 9,
shimniok 0:826c6171fc1b 32 MAV_ACTION_SHUTDOWN = 10,
shimniok 0:826c6171fc1b 33 MAV_ACTION_REBOOT = 11,
shimniok 0:826c6171fc1b 34 MAV_ACTION_SET_MANUAL = 12,
shimniok 0:826c6171fc1b 35 MAV_ACTION_SET_AUTO = 13,
shimniok 0:826c6171fc1b 36 MAV_ACTION_STORAGE_READ = 14,
shimniok 0:826c6171fc1b 37 MAV_ACTION_STORAGE_WRITE = 15,
shimniok 0:826c6171fc1b 38 MAV_ACTION_CALIBRATE_RC = 16,
shimniok 0:826c6171fc1b 39 MAV_ACTION_CALIBRATE_GYRO = 17,
shimniok 0:826c6171fc1b 40 MAV_ACTION_CALIBRATE_MAG = 18,
shimniok 0:826c6171fc1b 41 MAV_ACTION_CALIBRATE_ACC = 19,
shimniok 0:826c6171fc1b 42 MAV_ACTION_CALIBRATE_PRESSURE = 20,
shimniok 0:826c6171fc1b 43 MAV_ACTION_REC_START = 21,
shimniok 0:826c6171fc1b 44 MAV_ACTION_REC_PAUSE = 22,
shimniok 0:826c6171fc1b 45 MAV_ACTION_REC_STOP = 23,
shimniok 0:826c6171fc1b 46 MAV_ACTION_TAKEOFF = 24,
shimniok 0:826c6171fc1b 47 MAV_ACTION_NAVIGATE = 25,
shimniok 0:826c6171fc1b 48 MAV_ACTION_LAND = 26,
shimniok 0:826c6171fc1b 49 MAV_ACTION_LOITER = 27,
shimniok 0:826c6171fc1b 50 MAV_ACTION_SET_ORIGIN = 28,
shimniok 0:826c6171fc1b 51 MAV_ACTION_RELAY_ON = 29,
shimniok 0:826c6171fc1b 52 MAV_ACTION_RELAY_OFF = 30,
shimniok 0:826c6171fc1b 53 MAV_ACTION_GET_IMAGE = 31,
shimniok 0:826c6171fc1b 54 MAV_ACTION_VIDEO_START = 32,
shimniok 0:826c6171fc1b 55 MAV_ACTION_VIDEO_STOP = 33,
shimniok 0:826c6171fc1b 56 MAV_ACTION_RESET_MAP = 34,
shimniok 0:826c6171fc1b 57 MAV_ACTION_RESET_PLAN = 35,
shimniok 0:826c6171fc1b 58 MAV_ACTION_DELAY_BEFORE_COMMAND = 36,
shimniok 0:826c6171fc1b 59 MAV_ACTION_ASCEND_AT_RATE = 37,
shimniok 0:826c6171fc1b 60 MAV_ACTION_CHANGE_MODE = 38,
shimniok 0:826c6171fc1b 61 MAV_ACTION_LOITER_MAX_TURNS = 39,
shimniok 0:826c6171fc1b 62 MAV_ACTION_LOITER_MAX_TIME = 40,
shimniok 0:826c6171fc1b 63 MAV_ACTION_START_HILSIM = 41,
shimniok 0:826c6171fc1b 64 MAV_ACTION_STOP_HILSIM = 42,
shimniok 0:826c6171fc1b 65 MAV_ACTION_NB ///< Number of MAV actions
shimniok 0:826c6171fc1b 66 };
shimniok 0:826c6171fc1b 67
shimniok 0:826c6171fc1b 68 enum MAV_MODE
shimniok 0:826c6171fc1b 69 {
shimniok 0:826c6171fc1b 70 MAV_MODE_UNINIT = 0, ///< System is in undefined state
shimniok 0:826c6171fc1b 71 MAV_MODE_LOCKED = 1, ///< Motors are blocked, system is safe
shimniok 0:826c6171fc1b 72 MAV_MODE_MANUAL = 2, ///< System is allowed to be active, under manual (RC) control
shimniok 0:826c6171fc1b 73 MAV_MODE_GUIDED = 3, ///< System is allowed to be active, under autonomous control, manual setpoint
shimniok 0:826c6171fc1b 74 MAV_MODE_AUTO = 4, ///< System is allowed to be active, under autonomous control and navigation
shimniok 0:826c6171fc1b 75 MAV_MODE_TEST1 = 5, ///< Generic test mode, for custom use
shimniok 0:826c6171fc1b 76 MAV_MODE_TEST2 = 6, ///< Generic test mode, for custom use
shimniok 0:826c6171fc1b 77 MAV_MODE_TEST3 = 7, ///< Generic test mode, for custom use
shimniok 0:826c6171fc1b 78 MAV_MODE_READY = 8, ///< System is ready, motors are unblocked, but controllers are inactive
shimniok 0:826c6171fc1b 79 MAV_MODE_RC_TRAINING = 9 ///< System is blocked, only RC valued are read and reported back
shimniok 0:826c6171fc1b 80 };
shimniok 0:826c6171fc1b 81
shimniok 0:826c6171fc1b 82 enum MAV_STATE
shimniok 0:826c6171fc1b 83 {
shimniok 0:826c6171fc1b 84 MAV_STATE_UNINIT = 0,
shimniok 0:826c6171fc1b 85 MAV_STATE_BOOT,
shimniok 0:826c6171fc1b 86 MAV_STATE_CALIBRATING,
shimniok 0:826c6171fc1b 87 MAV_STATE_STANDBY,
shimniok 0:826c6171fc1b 88 MAV_STATE_ACTIVE,
shimniok 0:826c6171fc1b 89 MAV_STATE_CRITICAL,
shimniok 0:826c6171fc1b 90 MAV_STATE_EMERGENCY,
shimniok 0:826c6171fc1b 91 MAV_STATE_HILSIM,
shimniok 0:826c6171fc1b 92 MAV_STATE_POWEROFF
shimniok 0:826c6171fc1b 93 };
shimniok 0:826c6171fc1b 94
shimniok 0:826c6171fc1b 95 enum MAV_NAV
shimniok 0:826c6171fc1b 96 {
shimniok 0:826c6171fc1b 97 MAV_NAV_GROUNDED = 0,
shimniok 0:826c6171fc1b 98 MAV_NAV_LIFTOFF,
shimniok 0:826c6171fc1b 99 MAV_NAV_HOLD,
shimniok 0:826c6171fc1b 100 MAV_NAV_WAYPOINT,
shimniok 0:826c6171fc1b 101 MAV_NAV_VECTOR,
shimniok 0:826c6171fc1b 102 MAV_NAV_RETURNING,
shimniok 0:826c6171fc1b 103 MAV_NAV_LANDING,
shimniok 0:826c6171fc1b 104 MAV_NAV_LOST,
shimniok 0:826c6171fc1b 105 MAV_NAV_LOITER,
shimniok 0:826c6171fc1b 106 MAV_NAV_FREE_DRIFT
shimniok 0:826c6171fc1b 107 };
shimniok 0:826c6171fc1b 108
shimniok 0:826c6171fc1b 109 enum MAV_TYPE
shimniok 0:826c6171fc1b 110 {
shimniok 0:826c6171fc1b 111 MAV_GENERIC = 0,
shimniok 0:826c6171fc1b 112 MAV_FIXED_WING = 1,
shimniok 0:826c6171fc1b 113 MAV_QUADROTOR = 2,
shimniok 0:826c6171fc1b 114 MAV_COAXIAL = 3,
shimniok 0:826c6171fc1b 115 MAV_HELICOPTER = 4,
shimniok 0:826c6171fc1b 116 MAV_GROUND = 5,
shimniok 0:826c6171fc1b 117 OCU = 6,
shimniok 0:826c6171fc1b 118 MAV_AIRSHIP = 7,
shimniok 0:826c6171fc1b 119 MAV_FREE_BALLOON = 8,
shimniok 0:826c6171fc1b 120 MAV_ROCKET = 9,
shimniok 0:826c6171fc1b 121 UGV_GROUND_ROVER = 10,
shimniok 0:826c6171fc1b 122 UGV_SURFACE_SHIP = 11
shimniok 0:826c6171fc1b 123 };
shimniok 0:826c6171fc1b 124
shimniok 0:826c6171fc1b 125 enum MAV_AUTOPILOT_TYPE
shimniok 0:826c6171fc1b 126 {
shimniok 0:826c6171fc1b 127 MAV_AUTOPILOT_GENERIC = 0,
shimniok 0:826c6171fc1b 128 MAV_AUTOPILOT_PIXHAWK = 1,
shimniok 0:826c6171fc1b 129 MAV_AUTOPILOT_SLUGS = 2,
shimniok 0:826c6171fc1b 130 MAV_AUTOPILOT_ARDUPILOTMEGA = 3,
shimniok 0:826c6171fc1b 131 MAV_AUTOPILOT_NONE = 4
shimniok 0:826c6171fc1b 132 };
shimniok 0:826c6171fc1b 133
shimniok 0:826c6171fc1b 134 enum MAV_COMPONENT
shimniok 0:826c6171fc1b 135 {
shimniok 0:826c6171fc1b 136 MAV_COMP_ID_GPS,
shimniok 0:826c6171fc1b 137 MAV_COMP_ID_WAYPOINTPLANNER,
shimniok 0:826c6171fc1b 138 MAV_COMP_ID_BLOBTRACKER,
shimniok 0:826c6171fc1b 139 MAV_COMP_ID_PATHPLANNER,
shimniok 0:826c6171fc1b 140 MAV_COMP_ID_AIRSLAM,
shimniok 0:826c6171fc1b 141 MAV_COMP_ID_MAPPER,
shimniok 0:826c6171fc1b 142 MAV_COMP_ID_CAMERA,
shimniok 0:826c6171fc1b 143 MAV_COMP_ID_IMU = 200,
shimniok 0:826c6171fc1b 144 MAV_COMP_ID_IMU_2 = 201,
shimniok 0:826c6171fc1b 145 MAV_COMP_ID_IMU_3 = 202,
shimniok 0:826c6171fc1b 146 MAV_COMP_ID_UDP_BRIDGE = 240,
shimniok 0:826c6171fc1b 147 MAV_COMP_ID_UART_BRIDGE = 241,
shimniok 0:826c6171fc1b 148 MAV_COMP_ID_SYSTEM_CONTROL = 250
shimniok 0:826c6171fc1b 149 };
shimniok 0:826c6171fc1b 150
shimniok 0:826c6171fc1b 151 enum MAV_FRAME
shimniok 0:826c6171fc1b 152 {
shimniok 0:826c6171fc1b 153 MAV_FRAME_GLOBAL = 0,
shimniok 0:826c6171fc1b 154 MAV_FRAME_LOCAL = 1,
shimniok 0:826c6171fc1b 155 MAV_FRAME_MISSION = 2,
shimniok 0:826c6171fc1b 156 MAV_FRAME_GLOBAL_RELATIVE_ALT = 3,
shimniok 0:826c6171fc1b 157 MAV_FRAME_LOCAL_ENU = 4
shimniok 0:826c6171fc1b 158 };
shimniok 0:826c6171fc1b 159
shimniok 0:826c6171fc1b 160 enum MAVLINK_DATA_STREAM_TYPE
shimniok 0:826c6171fc1b 161 {
shimniok 0:826c6171fc1b 162 MAVLINK_DATA_STREAM_IMG_JPEG,
shimniok 0:826c6171fc1b 163 MAVLINK_DATA_STREAM_IMG_BMP,
shimniok 0:826c6171fc1b 164 MAVLINK_DATA_STREAM_IMG_RAW8U,
shimniok 0:826c6171fc1b 165 MAVLINK_DATA_STREAM_IMG_RAW32U,
shimniok 0:826c6171fc1b 166 MAVLINK_DATA_STREAM_IMG_PGM,
shimniok 0:826c6171fc1b 167 MAVLINK_DATA_STREAM_IMG_PNG
shimniok 0:826c6171fc1b 168
shimniok 0:826c6171fc1b 169 };
shimniok 0:826c6171fc1b 170
shimniok 0:826c6171fc1b 171 #define MAVLINK_STX 0x55 ///< Packet start sign
shimniok 0:826c6171fc1b 172 #define MAVLINK_STX_LEN 1 ///< Length of start sign
shimniok 0:826c6171fc1b 173 #define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
shimniok 0:826c6171fc1b 174
shimniok 0:826c6171fc1b 175 #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)
shimniok 0:826c6171fc1b 176 #define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + MAVLINK_STX_LEN) ///< Length of all header bytes, including core and checksum
shimniok 0:826c6171fc1b 177 #define MAVLINK_NUM_CHECKSUM_BYTES 2
shimniok 0:826c6171fc1b 178 #define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
shimniok 0:826c6171fc1b 179 #define MAVLINK_NUM_NON_STX_PAYLOAD_BYTES (MAVLINK_NUM_NON_PAYLOAD_BYTES - MAVLINK_STX_LEN)
shimniok 0:826c6171fc1b 180
shimniok 0:826c6171fc1b 181 #define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
shimniok 0:826c6171fc1b 182 //#define MAVLINK_MAX_DATA_LEN MAVLINK_MAX_PACKET_LEN - MAVLINK_STX_LEN
shimniok 0:826c6171fc1b 183
shimniok 0:826c6171fc1b 184 typedef struct __mavlink_system {
shimniok 0:826c6171fc1b 185 uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function
shimniok 0:826c6171fc1b 186 uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function
shimniok 0:826c6171fc1b 187 uint8_t type; ///< Unused, can be used by user to store the system's type
shimniok 0:826c6171fc1b 188 uint8_t state; ///< Unused, can be used by user to store the system's state
shimniok 0:826c6171fc1b 189 uint8_t mode; ///< Unused, can be used by user to store the system's mode
shimniok 0:826c6171fc1b 190 uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode
shimniok 0:826c6171fc1b 191 } mavlink_system_t;
shimniok 0:826c6171fc1b 192
shimniok 0:826c6171fc1b 193 typedef struct __mavlink_message {
shimniok 0:826c6171fc1b 194 uint8_t len; ///< Length of payload
shimniok 0:826c6171fc1b 195 uint8_t seq; ///< Sequence of packet
shimniok 0:826c6171fc1b 196 uint8_t sysid; ///< ID of message sender system/aircraft
shimniok 0:826c6171fc1b 197 uint8_t compid; ///< ID of the message sender component
shimniok 0:826c6171fc1b 198 uint8_t msgid; ///< ID of message in payload
shimniok 0:826c6171fc1b 199 uint8_t payload[MAVLINK_MAX_PAYLOAD_LEN]; ///< Payload data, ALIGNMENT IMPORTANT ON MCU
shimniok 0:826c6171fc1b 200 uint8_t ck_a; ///< Checksum high byte
shimniok 0:826c6171fc1b 201 uint8_t ck_b; ///< Checksum low byte
shimniok 0:826c6171fc1b 202 } mavlink_message_t;
shimniok 0:826c6171fc1b 203
shimniok 0:826c6171fc1b 204 typedef enum {
shimniok 0:826c6171fc1b 205 MAVLINK_COMM_0,
shimniok 0:826c6171fc1b 206 MAVLINK_COMM_1,
shimniok 0:826c6171fc1b 207 MAVLINK_COMM_2,
shimniok 0:826c6171fc1b 208 MAVLINK_COMM_3
shimniok 0:826c6171fc1b 209 } mavlink_channel_t;
shimniok 0:826c6171fc1b 210
shimniok 0:826c6171fc1b 211 /*
shimniok 0:826c6171fc1b 212 * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
shimniok 0:826c6171fc1b 213 * of buffers they will use. If more are used, then the result will be
shimniok 0:826c6171fc1b 214 * a stack overrun
shimniok 0:826c6171fc1b 215 */
shimniok 0:826c6171fc1b 216 #ifndef MAVLINK_COMM_NUM_BUFFERS
shimniok 0:826c6171fc1b 217 #if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
shimniok 0:826c6171fc1b 218 # define MAVLINK_COMM_NUM_BUFFERS 16
shimniok 0:826c6171fc1b 219 #else
shimniok 0:826c6171fc1b 220 # define MAVLINK_COMM_NUM_BUFFERS 4
shimniok 0:826c6171fc1b 221 #endif
shimniok 0:826c6171fc1b 222 #endif
shimniok 0:826c6171fc1b 223
shimniok 0:826c6171fc1b 224 typedef enum {
shimniok 0:826c6171fc1b 225 MAVLINK_PARSE_STATE_UNINIT=0,
shimniok 0:826c6171fc1b 226 MAVLINK_PARSE_STATE_IDLE,
shimniok 0:826c6171fc1b 227 MAVLINK_PARSE_STATE_GOT_STX,
shimniok 0:826c6171fc1b 228 MAVLINK_PARSE_STATE_GOT_SEQ,
shimniok 0:826c6171fc1b 229 MAVLINK_PARSE_STATE_GOT_LENGTH,
shimniok 0:826c6171fc1b 230 MAVLINK_PARSE_STATE_GOT_SYSID,
shimniok 0:826c6171fc1b 231 MAVLINK_PARSE_STATE_GOT_COMPID,
shimniok 0:826c6171fc1b 232 MAVLINK_PARSE_STATE_GOT_MSGID,
shimniok 0:826c6171fc1b 233 MAVLINK_PARSE_STATE_GOT_PAYLOAD,
shimniok 0:826c6171fc1b 234 MAVLINK_PARSE_STATE_GOT_CRC1
shimniok 0:826c6171fc1b 235 } mavlink_parse_state_t; ///< The state machine for the comm parser
shimniok 0:826c6171fc1b 236
shimniok 0:826c6171fc1b 237 typedef struct __mavlink_status {
shimniok 0:826c6171fc1b 238 uint8_t ck_a; ///< Checksum byte 1
shimniok 0:826c6171fc1b 239 uint8_t ck_b; ///< Checksum byte 2
shimniok 0:826c6171fc1b 240 uint8_t msg_received; ///< Number of received messages
shimniok 0:826c6171fc1b 241 uint8_t buffer_overrun; ///< Number of buffer overruns
shimniok 0:826c6171fc1b 242 uint8_t parse_error; ///< Number of parse errors
shimniok 0:826c6171fc1b 243 mavlink_parse_state_t parse_state; ///< Parsing state machine
shimniok 0:826c6171fc1b 244 uint8_t packet_idx; ///< Index in current packet
shimniok 0:826c6171fc1b 245 uint8_t current_rx_seq; ///< Sequence number of last packet received
shimniok 0:826c6171fc1b 246 uint8_t current_tx_seq; ///< Sequence number of last packet sent
shimniok 0:826c6171fc1b 247 uint16_t packet_rx_success_count; ///< Received packets
shimniok 0:826c6171fc1b 248 uint16_t packet_rx_drop_count; ///< Number of packet drops
shimniok 0:826c6171fc1b 249 } mavlink_status_t;
shimniok 0:826c6171fc1b 250
shimniok 0:826c6171fc1b 251 #endif /* MAVLINK_TYPES_H_ */