mavlink_bridge.h

00001 /* MAVLink adapter header */
00002 #ifndef __MAVLINK_BRIDGE_HEADER_H
00003 #define __MAVLINK_BRIDGE_HEADER_H
00004  
00005 #define MAVLINK_USE_CONVENIENCE_FUNCTIONS
00006 
00007 #include "mavlink_types.h"
00008  
00009 /* Struct that stores the communication settings of this system.
00010    you can also define / alter these settings elsewhere, as long
00011    as they're included BEFORE mavlink.h.
00012    So you can set the
00013  
00014    mavlink_system.sysid = 100; // System ID, 1-255
00015    mavlink_system.compid = 50; // Component/Subsystem ID, 1-255
00016  
00017    Lines also in your main.c, e.g. by reading these parameter from EEPROM.
00018  */
00019 mavlink_system_t mavlink_system;
00020  
00021 /**
00022  * @brief Send one char (uint8_t) over a comm channel
00023  *
00024  * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
00025  * @param ch Character to send
00026  */
00027 static inline void comm_send_ch(mavlink_channel_t chan, uint8_t ch) {
00028     extern Serial pc;
00029     
00030     if (chan == MAVLINK_COMM_0) {
00031         pc.putc(ch);
00032     }
00033     if (chan == MAVLINK_COMM_1) {
00034         // write to mavlink logfile
00035     }
00036 }
00037  
00038 #include "protocol.h"
00039 #include "common/common.h"
00040  
00041 #endif /* YOUR_MAVLINK_BRIDGE_HEADER_H *//* MAVLink adapter header */