Merge remote-tracking branch 'upstream/rel-16.09'

.commit-template

@@ -1,23 +1,14 @@
 
 
-# *************** OpenPilot commits guidelines ***************
+# *************** LibrePilot commits guidelines ***************
 # Each commit needs to have a message like the following sample:
-#  OP-1150 UI for thermal calibration: Connect State machine to UI
+#  LP-188 Determine AccelTau based on usage
 #
 # It needs to begin with a reference to one or more Jira tickets followed by a short description.
 # If needed add a longer description in the following lines, after an empty line.
 #
-# Before  committing, ensure your code is properly formatted using:
+# Before committing, ensure your code is properly formatted using:
 #  	make uncrustify_all 
 # You can format flight or ground code only using respectively 
 # uncrustify_flight or uncrustify_ground
-#
+
-# To automatically create a review, append the following smart commit messages:
-#   +review OPReview
-#
-# To append the commit to an existing review, use the following smart commit message:
-#   +review OPReview-NNN
-# For example "+review OPReview-609"  
-#
-# *NOTE* leave an empty line between the commit message and "smart commit command"
-# Smart commits commands need to starts immediately at first column

.drone.sec

@@ -0,0 +1 @@
+eyJhbGciOiJSU0EtT0FFUCIsImVuYyI6IkExMjhHQ00ifQ.UPh8KqupamxDSZ-xztWqWKqG7ur8WGg4dW22PRVGchjWsMa_zyuTEEDkl67z_jdHKkxEerWE8J4sROWVixi_xWvEl7OgXlt7H9c4iWtGTyp7n9ibeS1wgDoYes3LbRu9lRTxiTb-8Y-MgY0zeAHTBIQHmECETKF_CE4QkPHjSQCfbb_chn4vIqryM11-QctxDwysR4VC5AO1uA4hB0RReixOuSQFI-LbuLvBozEgsrYe5dFo7-oQJt7-e2-UFoEhomTPZcWc02NznX-GjlaZxpxQQXra5NyN5--aiL2C8kcPYfnEfU4dYudNsm2tDlnxhBPA1Ji3FnDSBp_ZunsvRQ.GGds6H6tZW_Qzh2T.KjsjOsBbAmfhUIWYXJBMcrChr1ckykuPZ8XERPGWuSoMbXkklHGj0MCehIWNDuLX_wPM1wTvZE8unFJIYwYGybYQ8omAHDGOkEM3YDs6VnJ9Y8zBl6wnvTvtsQsrQWqU8vdodzSP62F81wCDCCauOFewz_gjzl6n_1Ajxj9CqTfCR17Gcuui6nrqkn0A5qikWuZz8qsUaQ94t0qVRWOFcZ4NQMH8NJwZCYW0JAAsvoQOidc2dB5zkwx3pzc2hItmzwZq3uVgWr5RFgp2LzBd.45hdSTLtI4gU9-GjkOlZ1A

.drone.yml

@@ -0,0 +1,48 @@
+build:
+  image: teaci/msys$$arch
+  pull: true
+  shell: mingw$$arch
+  commands:
+    - if [ $$arch = 32 ]; then target=i686; fi
+    - if [ $$arch = 64 ]; then target=x86_64; fi
+    - echo -e "[librepilot-mingw]\nSigLevel = Optional TrustAll\nServer = http://download.librepilot.org/repo/mingw" >> /etc/pacman.conf
+    - pacman -Syu --noconfirm --noprogressbar --needed git unzip tar mingw-w64-${target}-toolchain mingw-w64-${target}-ccache mingw-w64-${target}-qt5 mingw-w64-${target}-SDL mingw-w64-${target}-mesa mingw-w64-${target}-openssl mingw-w64-${target}-gdal-minimal mingw-w64-${target}-OpenSceneGraph mingw-w64-${target}-osgearth
+    - mingw32-make all_sdk_install
+    - git config core.filemode false
+    - mingw32-make build-info && cat build/build-info.txt
+    - mingw32-make opfw_resource
+    - mingw32-make gcs
+    - mingw32-make package
+    - mv `ls build/LibrePilot-*.exe` build/$$BRANCH-$$COMMIT-$$arch-package.exe 
+
+clone:
+  depth: 1000
+  tags: true
+
+matrix:
+    arch:
+        - 32
+        - 64
+
+publish:
+  bintray:
+    username: marcproe
+    api_key: $$BINTRAY_API_KEY
+    artifacts:
+      - file: build/$$BRANCH-$$COMMIT-$$arch-package.exe
+        owner: librepilot
+        type: executable
+        repository: LibrePilot
+        package: next
+        version: Windows
+        publish: true
+        override: true
+        target: $$BRANCH-$${COMMIT:0:6}-$$arch-tea-ci-package.exe
+
+notify:
+  webhook:
+    urls:
+      - https://hooks.slack.com/services/$$SLACK_HOOK
+    content_type: application/json
+    template: >
+      {"text": "Tea-CI Build #{{ build.number }} finished with a {{ build.status }} status. If successful, the packages for {{ build.branch }} $${COMMIT:0:8} can be downloaded <https://bintray.com/librepilot/LibrePilot/next/Windows/view/#files|here>"}

.gitattributes

@@ -32,3 +32,8 @@
 /Makefile	text eol=lf
 
 # More attributes are defined in per-directory .gitattributes which override this file
+
+# Not needed in source distribution for building GCS
+/artwork/       export-ignore
+/flight/        export-ignore
+/hardware/      export-ignore

.gitignore

@@ -5,8 +5,7 @@
 /3rdparty
 
 # Ignore user config
-config
+/config
-
 
 # Exclude temporary and system files
 Thumbs.db
@@ -37,9 +36,10 @@ ground/gcs/.settings
 # Ignore .pro.user files
 *.pro.user
 
-
 # Misc artifacts
 *.exe
+*.log
+*.opl
 /ground/gcs/share/translations/extract-mimetypes.xq
 /ground/gcs/src/experimental/tools/DocumentationHelper/ui_mainwindow.h
 /ground/gcs/src/libs/qextserialport/.hg
@@ -59,8 +59,8 @@ ground/gcs/.settings
 /androidgcs/gen/
 
 # Ignore Eclipse Projects and Metadata
-/.cproject
+.cproject
-/.project
+.project
 /.metadata
 /.settings
 /.pydevproject

.travis.yml

@@ -0,0 +1,22 @@
+language: cpp
+
+sudo: required
+
+dist: trusty
+
+before_install:
+        - sudo add-apt-repository ppa:librepilot/tools -y
+        - sudo apt-get update -q
+        - sudo apt-get install -y libc6-i386 libudev-dev libusb-1.0-0-dev libsdl1.2-dev python libopenscenegraph-dev libosgearth-dev qt56-meta-minimal qt56svg qt56script qt56serialport qt56multimedia qt56translations qt56tools
+        - make build_sdk_install
+
+script:
+        - make config_new CCACHE=ccache
+        - make all_flight
+        - make opfw_resource
+        - make gcs
+
+git:
+        depth: 500
+
+cache: ccache

CONTRIBUTING.md

@@ -1,40 +1,82 @@
-How to build from source?
+# How to build from source?
-=========================
 
-Both development environment and GCS are supported on Windows, Linux and Mac OS X
+Both development environment and GCS are supported on Windows, Linux and Mac OS X.
+
+# Install prerequisites
 
 The first step is to Install all OS specific prerequisites.
-###Mac OS X
-Install XCode and its relatated command line tools (follow Apple documentation).
-Install git, curl and p7zip. You can use brew `brew install git curl p7zip` or macport: `sudo port install git curl p7zip`
-###Ubuntu
 
-    sudo apt-get install git build-essential curl gdb wget debhelper p7zip-full unzip flex bison libsdl1.2-dev  libudev-dev  libusb-1.0-0-dev libc6-i386 mesa-common-dev
+## Mac OS X
+
+Install XCode and its relatated command line tools (follow Apple documentation). Install git, curl and p7zip.
+
+You can use brew with `brew install git curl p7zip` or macport with `sudo port install git curl p7zip`.
 
 
-###Windows
+## Ubuntu
-Install [msysGIT](https://msysgit.github.io/) under `C:\git`
 
-Clone LibrePilot Git repository.
+    sudo apt-get install git build-essential curl gdb wget debhelper p7zip-full unzip flex bison libsdl1.2-dev libudev-dev libusb-1.0-0-dev libc6-i386 mesa-common-dev
-Open Git Bash and run
 
-    cd /path/to/LibrePilot_root
-    ./make/scripts/win_sdk_install.sh
 
-You can build using the `/path/to/LibrePilot_root/make/winx86/bin/make` wrapper to call `mingw32-make.exe` as:
+## Windows
 
-    ./make/winx86/bin/make  all_sdk_install
+### Install [Msys2](https://msys2.github.io/)
-or call `mingw32-make` directly
 
-    mingw32-make  all_sdk_install
+Follow the instructions on the web site. You can either install the i686 (Win32) or x86_64 (Win64) version.
+It is recommended to go for the Win64 Shell if possible.
+The x86_64 version has both Win32 and Win64 shells and it is possible to build both i686 and x86_64 applications.
 
-##Setup the build environment and build
+### Add the LibrePilot MinGW package repository
-The `all_sdk_install` target will automatically retrieve and install all needed tools (qt, arm gcc etc.) in a local folder `/path/to/LibrePilot_root/tools`
 
+Add the following lines at the end of your /etc/pacman.conf file:
+
+    [librepilot-mingw]
+    SigLevel = Optional TrustAll
+    Server = http://download.librepilot.org/repo/mingw
+
+### Install required packages
+
+#### For i686 applications
+
+Start a MinGW-w64 Win64 Shell or a MinGW-w64 Win32 Shell.
+
+    pacman -Sy
+    pacman -S --needed git unzip tar mingw-w64-i686-toolchain mingw-w64-i686-ccache mingw-w64-i686-qt5 mingw-w64-i686-SDL mingw-w64-i686-mesa mingw-w64-i686-openssl mingw-w64-i686-gdal-minimal mingw-w64-i686-OpenSceneGraph mingw-w64-i686-osgearth
+
+Optionally install debug packages:
+
+    pacman -S --needed mingw-w64-i686-OpenSceneGraph-debug mingw-w64-i686-osgearth-debug
+
+#### For x86_64 applications
+
+Start a MinGW-w64 Win64 Shell.
+
+    pacman -Sy
+    pacman -S --needed git unzip tar mingw-w64-x86_64-toolchain mingw-w64-x86_64-ccache mingw-w64-x86_64-qt5 mingw-w64-x86_64-SDL mingw-w64-x86_64-mesa mingw-w64-x86_64-openssl mingw-w64-x86_64-gdal-minimal mingw-w64-x86_64-OpenSceneGraph mingw-w64-x86_64-osgearth
+
+Optionally install debug packages:
+
+    pacman -S --needed mingw-w64-x86_64-OpenSceneGraph-debug mingw-w64-x86_64-osgearth-debug
+
+**NOTE** On Windows you need to run the mingw version of make, which is `mingw32-make`
+
+
+# Setup the build environment and build
+
+The `all_sdk_install` target will automatically retrieve and install all needed tools (qt, arm gcc, etc.) in a local folder `/path/to/LibrePilot_root/tools`
+
+## Ubuntu / Mac OS X
 
     make all_sdk_install
     make package
 
+## Windows
+
+    mingw32-make all_sdk_install
+    mingw32-make package
+
 The `package` target will build the complete installable package for the current platform.
 
-Run make with no arguments to show the complete list of supported targets.
+You can build the `all` target to just build the software.
+
+Run `make` with no arguments to show the complete list of supported targets.

CREDITS.txt

@@ -3,6 +3,7 @@ Sergiy Anikeyev
 David Ankers
 Fredrik Arvidsson
 Pedro Assuncao
+Rafael Bachmann
 Werner Backes
 Jose Barros
 Alex Beck
@@ -24,6 +25,7 @@ James Cotton
 Kalyn Doerr
 Steve Doll
 James Duley
+Heikko Ellermaa
 Piotr Esden-Tempski
 Steve Evans
 Peter Farnworth
@@ -43,6 +45,7 @@ Nuno Guedes
 Peter Gunnarsson
 Erik Gustavsson
 Dean Hall
+Harold Hankins
 Joe Hlebasko
 Andy Honecker
 Patrick Huebner
@@ -50,6 +53,7 @@ Ryan Hunt
 Mark James
 Paul Jewell
 Michael Johnston
+Mateusz Kaduk
 Stefan Karlsson
 Ricky King
 Thorsten Klose
@@ -68,6 +72,7 @@ Pablo Lema
 Matt Lipski
 David Llama
 Jasper Van Loenen
+Ákos Máté
 Ben Matthews
 Greg Matthews
 Guy McCaldin
@@ -79,6 +84,7 @@ Ken Northup
 Craig Nuttall
 Bertrand Oresve
 Angus Peart
+Pablo Francisco Pérez Hidalgo
 John Pike
 Jorge Pombo Marcos
 Dmytro Poplavskiy
@@ -116,9 +122,12 @@ Kevin Vertucio
 Alex Vrubel
 Mike Walters
 Sam Wang
+Tianhe Wang
 Brian Webb
 Justin Welander
 Mat Wellington
 Kendal Wells
 David Willis
 Dmitriy Zaitsev
+Vladimir Zidar
+

Makefile

@@ -78,14 +78,10 @@ endef
 define DESCRIPTION_LONG :=
 The LibrePilot open source project was founded in July 2015.
 It focuses on research and development of software and hardware to be used in a variety of applications including vehicle control and stabilization, unmanned autonomous vehicles and robotics.
-One of the project’s primary goals is to provide an open and collaborative environment making it the ideal home for development of innovative ideas.
+One of the project's primary goals is to provide an open and collaborative environment making it the ideal home for development of innovative ideas.
 endef
 
 
-# Set up default build configurations (debug | release)
-GCS_BUILD_CONF		:= release
-GOOGLE_API_VERSION	:= 14
-
 # Clean out undesirable variables from the environment and command-line
 # to remove the chance that they will cause problems with our build
 define SANITIZE_VAR
@@ -110,15 +106,6 @@ $(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowe
 SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER CLEAN_BUILD
 $(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
 
-# Make sure this isn't being run as root unless installing (no whoami on Windows, but that is ok here)
-ifeq ($(shell whoami 2>/dev/null),root)
-    ifeq ($(filter install uninstall,$(MAKECMDGOALS)),)
-        ifndef FAKEROOTKEY
-            $(error You should not be running this as root)
-        endif
-    endif
-endif
-
 # Decide on a verbosity level based on the V= parameter
 export AT := @
 ifndef V
@@ -130,14 +117,7 @@ else ifeq ($(V), 0)
 else ifeq ($(V), 1)
 endif
 
-# Make sure we know few things about the architecture before including
+ARCH := $(call get_arch)
-# the tools.mk to ensure that we download/install the right tools.
-UNAME := $(shell uname)
-ARCH  := $(shell uname -m)
-# Here and everywhere if not Linux or Mac then assume Windows
-ifeq ($(filter Linux Darwin, $(UNAME)), )
-    UNAME := Windows
-endif
 
 # Include tools installers
 include $(ROOT_DIR)/make/tools.mk
@@ -147,18 +127,38 @@ include $(ROOT_DIR)/make/tools.mk
 
 # We almost need to consider autoconf/automake instead of this
 ifeq ($(UNAME), Linux)
-    QT_SPEC := linux-g++
+    UAVOBJGENERATOR   := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
-    UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
+    GCS_WITH_OSG      := 1
+    GCS_WITH_OSGEARTH := 1
+    GCS_COPY_OSG      := 0
 else ifeq ($(UNAME), Darwin)
-    QT_SPEC := macx-g++
+    UAVOBJGENERATOR   := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
-    UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
+    GCS_WITH_OSG      := 1
+    GCS_WITH_OSGEARTH := 0
+    GCS_COPY_OSG      := 1
 else ifeq ($(UNAME), Windows)
-    QT_SPEC := win32-g++
     UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator.exe
+    GCS_WITH_OSG      := 1
+    GCS_WITH_OSGEARTH := 1
+    GCS_COPY_OSG      := 1
 endif
 
 export UAVOBJGENERATOR
 
+# Set up default build configurations (debug | release)
+GCS_BUILD_CONF := release
+
+# Set extra configuration
+ifeq ($(GCS_WITH_OSG), 1)
+    GCS_EXTRA_CONF += osg
+    ifeq ($(GCS_COPY_OSG), 1)
+        GCS_EXTRA_CONF += copy_osg
+    endif
+    ifeq ($(GCS_WITH_OSGEARTH), 1)
+        GCS_EXTRA_CONF += osgearth
+    endif
+endif
+
 ##############################
 #
 # All targets
@@ -192,7 +192,7 @@ uavobjgenerator: $(UAVOBJGENERATOR)
 $(UAVOBJGENERATOR): | $(UAVOBJGENERATOR_DIR)
 	$(V1) cd $(UAVOBJGENERATOR_DIR) && \
 	    ( [ -f Makefile ] || $(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro \
-	    -spec $(QT_SPEC) CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) ) && \
+	    CONFIG+='$(GCS_BUILD_CONF) $(GCS_EXTRA_CONF)' ) && \
 	    $(MAKE) --no-print-directory -w
 
 UAVOBJ_TARGETS := gcs flight python matlab java wireshark
@@ -240,7 +240,8 @@ endif
 FLIGHT_OUT_DIR := $(BUILD_DIR)/firmware
 DIRS += $(FLIGHT_OUT_DIR)
 
-include $(ROOT_DIR)/flight/Makefile
+# Might not be here in source package
+-include $(ROOT_DIR)/flight/Makefile
 
 ##############################
 #
@@ -251,10 +252,8 @@ include $(ROOT_DIR)/flight/Makefile
 .PHONY: all_ground
 all_ground: gcs uploader
 
-ifeq ($(V), 1)
+ifneq ($(V), 1)
-    GCS_SILENT :=
+    GCS_EXTRA_CONF += silent
-else
-    GCS_SILENT := silent
 endif
 
 GCS_DIR := $(BUILD_DIR)/$(GCS_SMALL_NAME)_$(GCS_BUILD_CONF)
@@ -266,7 +265,7 @@ GCS_MAKEFILE := $(GCS_DIR)/Makefile
 gcs_qmake $(GCS_MAKEFILE): | $(GCS_DIR)
 	$(V1) cd $(GCS_DIR) && \
 	    $(QMAKE) $(ROOT_DIR)/ground/gcs/gcs.pro \
-	    -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) \
+	    -r CONFIG+='$(GCS_BUILD_CONF) $(GCS_EXTRA_CONF)' \
 	    'GCS_BIG_NAME="$(GCS_BIG_NAME)"' GCS_SMALL_NAME=$(GCS_SMALL_NAME) \
 	    'ORG_BIG_NAME="$(ORG_BIG_NAME)"' ORG_SMALL_NAME=$(ORG_SMALL_NAME) \
 	    'WIKI_URL_ROOT="$(WIKI_URL_ROOT)"' \
@@ -300,7 +299,7 @@ UPLOADER_MAKEFILE := $(UPLOADER_DIR)/Makefile
 uploader_qmake $(UPLOADER_MAKEFILE): | $(UPLOADER_DIR)
 	$(V1) cd $(UPLOADER_DIR) && \
 	    $(QMAKE) $(ROOT_DIR)/ground/gcs/src/experimental/USB_UPLOAD_TOOL/upload.pro \
-	    -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) $(GCS_QMAKE_OPTS)
+	    -r CONFIG+='$(GCS_BUILD_CONF) $(GCS_EXTRA_CONF)' $(GCS_QMAKE_OPTS)
 
 .PHONY: uploader
 uploader: $(UPLOADER_MAKEFILE)
@@ -312,174 +311,6 @@ uploader_clean:
 	$(V1) [ ! -d "$(UPLOADER_DIR)" ] || $(RM) -r "$(UPLOADER_DIR)"
 
 
-# We want to take snapshots of the UAVOs at each point that they change
-# to allow the GCS to be compatible with as many versions as possible.
-# We always include a pseudo collection called "srctree" which represents
-# the UAVOs in the source tree. So not necessary to add current tree UAVO
-# hash here, it is always included.
-
-# Find the git hashes of each commit that changes uavobjects with:
-#   git log --format=%h -- shared/uavobjectdefinition/ | head -n 2
-# List only UAVO hashes of past releases, do not list current hash.
-# Past compatible versions are so far: RELEASE-12.10.2
-UAVO_GIT_VERSIONS := 5e14f53
-
-# All versions includes also the current source tree UAVO hash
-UAVO_ALL_VERSIONS := $(UAVO_GIT_VERSIONS) srctree
-
-# This is where the UAVO collections are stored
-UAVO_COLLECTION_DIR := $(BUILD_DIR)/uavo-collections
-
-# $(1) git hash of a UAVO snapshot
-define UAVO_COLLECTION_GIT_TEMPLATE
-
-# Make the output directory that will contain all of the synthetics for the
-# uavo collection referenced by the git hash $(1)
-$$(UAVO_COLLECTION_DIR)/$(1):
-	$$(V1) $(MKDIR) -p $$(UAVO_COLLECTION_DIR)/$(1)
-
-# Extract the snapshot of shared/uavobjectdefinition from git hash $(1)
-$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar: | $$(UAVO_COLLECTION_DIR)/$(1)
-$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar:
-	$$(V0) @$(ECHO) " UAVOTAR   $(1)"
-	$$(V1) $(GIT) archive $(1) -o $$@ -- shared/uavobjectdefinition/
-
-# Extract the uavo xml files from our snapshot
-$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar
-	$$(V0) @$(ECHO) " UAVOUNTAR $(1)"
-	$$(V1) $(RM) -rf $$@
-	$$(V1) $(MKDIR) -p $$@
-	$$(V1) $(TAR) -C $$(call toprel, $$@) -xf $$(call toprel, $$<) || $(RM) -rf $$@
-endef
-
-# Map the current working directory into the set of UAVO collections
-$(UAVO_COLLECTION_DIR)/srctree:
-	$(V1) $(MKDIR) -p $@
-
-$(UAVO_COLLECTION_DIR)/srctree/uavo-xml: | $(UAVO_COLLECTION_DIR)/srctree
-$(UAVO_COLLECTION_DIR)/srctree/uavo-xml: $(UAVOBJ_XML_DIR)
-	$(V1) $(LN) -sf $(ROOT_DIR) $(UAVO_COLLECTION_DIR)/srctree/uavo-xml
-
-# $(1) git hash (or symbolic name) of a UAVO snapshot
-define UAVO_COLLECTION_BUILD_TEMPLATE
-
-# This leaves us with a (broken) symlink that points to the full sha1sum of the collection
-$$(UAVO_COLLECTION_DIR)/$(1)/uavohash: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml
-        # Compute the sha1 hash for this UAVO collection
-        # The sed bit truncates the UAVO hash to 16 hex digits
-	$$(V1) $$(VERSION_INFO) \
-			--uavodir=$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition \
-			--format='$$$${UAVO_HASH}' | \
-		$(SED) -e 's|\(................\).*|\1|' > $$@
-
-	$$(V0) @$(ECHO) " UAVOHASH  $(1) ->" $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
-
-# Generate the java uavobjects for this UAVO collection
-$$(UAVO_COLLECTION_DIR)/$(1)/java-build/java: $$(UAVO_COLLECTION_DIR)/$(1)/uavohash
-	$$(V0) @$(ECHO) " UAVOJAVA  $(1)   " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
-	$$(V1) $(MKDIR) -p $$@
-	$$(V1) ( \
-		cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
-		$$(UAVOBJGENERATOR) -java $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition $$(ROOT_DIR) ; \
-	)
-
-# Build a jar file for this UAVO collection
-$$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: | $$(ANDROIDGCS_ASSETS_DIR)/uavos
-$$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java
-	$$(V0) @$(ECHO) " UAVOJAR   $(1)   " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
-	$$(V1) ( \
-		HASH=$$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash) && \
-		cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
-		$(JAVAC) java/*.java \
-			$$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java \
-			$$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVObject*.java \
-			$$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java \
-			-d . && \
-		find ./org/openpilot/uavtalk/uavobjects -type f -name '*.class' > classlist.txt && \
-		$(JAR) cf tmp_uavobjects.jar @classlist.txt && \
-		$$(ANDROID_DX) \
-			--dex \
-			--output $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar \
-			tmp_uavobjects.jar && \
-		$(LN) -sf $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar uavobjects.jar \
-	)
-
-endef
-
-# One of these for each element of UAVO_GIT_VERSIONS so we can extract the UAVOs from git
-$(foreach githash, $(UAVO_GIT_VERSIONS), $(eval $(call UAVO_COLLECTION_GIT_TEMPLATE,$(githash))))
-
-# One of these for each UAVO_ALL_VERSIONS which includes the ones in the srctree
-$(foreach githash, $(UAVO_ALL_VERSIONS), $(eval $(call UAVO_COLLECTION_BUILD_TEMPLATE,$(githash))))
-
-.PHONY: uavo-collections_java
-uavo-collections_java: $(foreach githash, $(UAVO_ALL_VERSIONS), $(UAVO_COLLECTION_DIR)/$(githash)/java-build/uavobjects.jar)
-
-.PHONY: uavo-collections
-uavo-collections: uavo-collections_java
-
-.PHONY: uavo-collections_clean
-uavo-collections_clean:
-	@$(ECHO) " CLEAN      $(call toprel, $(UAVO_COLLECTION_DIR))"
-	$(V1) [ ! -d "$(UAVO_COLLECTION_DIR)" ] || $(RM) -r $(UAVO_COLLECTION_DIR)
-
-##############################
-#
-# Unit Tests
-#
-##############################
-
-ALL_UNITTESTS := logfs math lednotification
-
-# Build the directory for the unit tests
-UT_OUT_DIR := $(BUILD_DIR)/unit_tests
-DIRS += $(UT_OUT_DIR)
-
-.PHONY: all_ut
-all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS)))
-
-.PHONY: all_ut_xml
-all_ut_xml: $(addsuffix _xml, $(addprefix ut_, $(ALL_UNITTESTS)))
-
-.PHONY: all_ut_run
-all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
-
-.PHONY: all_ut_clean
-all_ut_clean:
-	@$(ECHO) " CLEAN      $(call toprel, $(UT_OUT_DIR))"
-	$(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
-
-# $(1) = Unit test name
-define UT_TEMPLATE
-.PHONY: ut_$(1)
-ut_$(1): ut_$(1)_run
-
-ut_$(1)_%: $$(UT_OUT_DIR)
-	$(V1) $(MKDIR) -p $(UT_OUT_DIR)/$(1)
-	$(V1) cd $(ROOT_DIR)/flight/tests/$(1) && \
-		$$(MAKE) -r --no-print-directory \
-		BUILD_TYPE=ut \
-		BOARD_SHORT_NAME=$(1) \
-		TOPDIR=$(ROOT_DIR)/flight/tests/$(1) \
-		OUTDIR="$(UT_OUT_DIR)/$(1)" \
-		TARGET=$(1) \
-		$$*
-
-.PHONY: ut_$(1)_clean
-ut_$(1)_clean:
-	@$(ECHO) " CLEAN      $(call toprel, $(UT_OUT_DIR)/$(1))"
-	$(V1) [ ! -d "$(UT_OUT_DIR)/$(1)" ] || $(RM) -r "$(UT_OUT_DIR)/$(1)"
-endef
-
-# Expand the unittest rules
-$(foreach ut, $(ALL_UNITTESTS), $(eval $(call UT_TEMPLATE,$(ut))))
-
-# Disable parallel make when the all_ut_run target is requested otherwise the TAP
-# output is interleaved with the rest of the make output.
-ifneq ($(strip $(filter all_ut_run,$(MAKECMDGOALS))),)
-.NOTPARALLEL:
-    $(info $(EMPTY) NOTE        Parallel make disabled by all_ut_run target so we have sane console output)
-endif
 
 ##############################
 #
@@ -487,7 +318,7 @@ endif
 #
 ##############################
 # Firmware files to package
-PACKAGE_FW_TARGETS := fw_coptercontrol fw_oplinkmini fw_revolution fw_osd fw_revoproto fw_gpsplatinum fw_revonano
+PACKAGE_FW_TARGETS := fw_coptercontrol fw_oplinkmini fw_revolution fw_osd fw_revoproto fw_gpsplatinum fw_revonano fw_sparky2
 
 # Rules to generate GCS resources used to embed firmware binaries into the GCS.
 # They are used later by the vehicle setup wizard to update board firmware.
@@ -506,7 +337,7 @@ OPFW_FILES := $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(FIRMWARE_DIR)/$(fw_tar
 OPFW_CONTENTS := \
 <!DOCTYPE RCC><RCC version="1.0"> \
     <qresource prefix="/firmware"> \
-        $(foreach fw_file, $(OPFW_FILES), <file alias="$(notdir $(fw_file))">$(fw_file)</file>) \
+        $(foreach fw_file, $(OPFW_FILES), <file alias="$(notdir $(fw_file))">$(call system_path,$(fw_file))</file>) \
     </qresource> \
 </RCC>
 
@@ -550,19 +381,22 @@ include $(ROOT_DIR)/package/$(UNAME).mk
 # Source for distribution
 #
 ##############################
-$(DIST_VER_INFO): .git/index | $(DIST_DIR)
+FORCE:
+
+$(DIST_VER_INFO): FORCE | $(DIST_DIR)
 	$(V1) $(VERSION_INFO) --jsonpath="$(DIST_DIR)"
 
-$(DIST_TAR): $(DIST_VER_INFO) .git/index | $(DIST_DIR)
+$(DIST_TAR): $(DIST_VER_INFO) | $(DIST_DIR)
 	@$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_TAR))"
 	$(V1) git archive --prefix="$(PACKAGE_NAME)/" -o "$(DIST_TAR)" HEAD
 	$(V1) tar --append --file="$(DIST_TAR)" \
+		--owner=root --group=root --mtime="`git show -s --format=%ci`" \
 		--transform='s,.*version-info.json,$(PACKAGE_NAME)/version-info.json,' \
 		$(call toprel, "$(DIST_VER_INFO)")
 
 $(DIST_TAR_GZ): $(DIST_TAR)
 	@$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_TAR_GZ))"
-	$(V1) gzip -kf "$(DIST_TAR)"
+	$(V1) gzip -knf "$(DIST_TAR)"
 
 .PHONY: dist_tar_gz
 dist_tar_gz: $(DIST_TAR_GZ)
@@ -574,12 +408,14 @@ dist: dist_tar_gz
 $(FW_DIST_TAR): $(PACKAGE_FW_TARGETS) | $(DIST_DIR)
 	@$(ECHO) " FIRMWARE FOR DISTRIBUTION $(call toprel, $(FW_DIST_TAR))"
 	$(V1) tar -c --file="$(FW_DIST_TAR)" --directory=$(FLIGHT_OUT_DIR) \
+		--owner=root --group=root --mtime="`git show -s --format=%ci`" \
 		--transform='s,^,firmware/,' \
+		--force-local \
 		$(foreach fw_targ,$(PACKAGE_FW_TARGETS),$(fw_targ)/$(fw_targ).opfw)
 
 $(FW_DIST_TAR_GZ): $(FW_DIST_TAR)
 	@$(ECHO) " FIRMWARE FOR DISTRIBUTION $(call toprel, $(FW_DIST_TAR_GZ))"
-	$(V1) gzip -kf "$(FW_DIST_TAR)"
+	$(V1) gzip -knf "$(FW_DIST_TAR)"
 
 .PHONY: fw_dist_tar_gz
 fw_dist_tar_gz: $(FW_DIST_TAR_GZ)
@@ -604,6 +440,9 @@ define UNCRUSTIFY_TEMPLATE
 uncrustify_$(1):
 	@$(ECHO) "Auto-formatting $(1) source code"
 	$(V1) UNCRUSTIFY_CONFIG="$(ROOT_DIR)/make/uncrustify/uncrustify.cfg" $(SHELL) make/scripts/uncrustify.sh $(call toprel, $(2))
+
+.PHONY: pretty_$(1)
+pretty_$(1): uncrustify_$(1)
 endef
 
 $(foreach uncrustify_targ, $(UNCRUSTIFY_TARGETS), $(eval $(call UNCRUSTIFY_TEMPLATE,$(uncrustify_targ),$(ROOT_DIR)/$(uncrustify_targ))))
@@ -611,6 +450,9 @@ $(foreach uncrustify_targ, $(UNCRUSTIFY_TARGETS), $(eval $(call UNCRUSTIFY_TEMPL
 .PHONY: uncrustify_all
 uncrustify_all: $(addprefix uncrustify_,$(UNCRUSTIFY_TARGETS))
 
+.PHONY: pretty
+pretty: $(addprefix pretty_,$(UNCRUSTIFY_TARGETS))
+
 ##############################
 #
 # Doxygen documentation
@@ -668,8 +510,10 @@ build-info: | $(BUILD_DIR)
 #
 ##############################
 
-CONFIG_OPTS := $(addsuffix \n,$(MAKEOVERRIDES))
+CONFIG_OPTS := $(subst \$(SPACE),%SPACE_PLACEHOLDER%,$(MAKEOVERRIDES))
-CONFIG_OPTS := $(addprefix override$(SPACE),$(CONFIG_OPTS))
+CONFIG_OPTS := $(addprefix override%SPACE_PLACEHOLDER%,$(CONFIG_OPTS))
+CONFIG_OPTS := $(subst $(SPACE),\n,$(CONFIG_OPTS))\n
+CONFIG_OPTS := $(subst %SPACE_PLACEHOLDER%,$(SPACE),$(CONFIG_OPTS))
 
 .PHONY: config_new
 config_new:
@@ -681,12 +525,59 @@ config_append:
 
 .PHONY: config_show
 config_show:
-	@cat $(CONFIG_FILE)
+	@cat $(CONFIG_FILE) | sed 's/override *//'
 
 .PHONY: config_clean
 config_clean:
 	rm -f $(CONFIG_FILE)
 
+.PHONY: config_help
+config_help:
+	@$(ECHO) "   The build system has a simple system for persistent configuration"
+	@$(ECHO)
+	@$(ECHO) "   To set persistent configuration variables you, for example, do:"
+	@$(ECHO) "       $(MAKE) config_new CCACHE=ccache GCS_WITH_OSG=0"
+	@$(ECHO)
+	@$(ECHO) "   To add to the existing configuration do:"
+	@$(ECHO) "       $(MAKE) config_append GCS_BUILD_CONF=debug"
+	@$(ECHO)
+	@$(ECHO) "   To reset the configuration to defaults do:"
+	@$(ECHO) "       $(MAKE) config_clean"
+	@$(ECHO)
+	@$(ECHO) "   To show the current configuration:"
+	@$(ECHO) "       $(MAKE) config_show"
+	@$(ECHO)
+	@$(ECHO) "   You can override any make variable this way, but these are the useful ones"
+	@$(ECHO) "   shown with their current (or default values):"
+	@$(ECHO)
+	@$(ECHO) "   GCS_BUILD_CONF=$(GCS_BUILD_CONF)"
+	@$(ECHO) "       GCS build type"
+	@$(ECHO) "       Options: debug or release"
+	@$(ECHO)
+	@$(ECHO) "   GCS_WITH_OSG=$(GCS_WITH_OSG)"
+	@$(ECHO) "       Build the GCS with OpenSceneGraph support, this enables the PFD Model View"
+	@$(ECHO) "       Options: 0 or 1"
+	@$(ECHO)
+	@$(ECHO) "   GCS_WITH_OSGEARTH=$(GCS_WITH_OSGEARTH)"
+	@$(ECHO) "       Build the GCS with osgEarth support, this enables extra PFD terrain views"
+	@$(ECHO) "       Options: 0 or 1"
+	@$(ECHO)
+	@$(ECHO) "   GCS_COPY_OSG=$(GCS_COPY_OSG)"
+	@$(ECHO) "       Copy OpenSceneGraph/osgEarth libraries into the build"
+	@$(ECHO) "       (Needed unless using system versions)"
+	@$(ECHO) "       Options: 0 or 1"
+	@$(ECHO)
+	@$(ECHO) "   CCACHE=$(CCACHE)"
+	@$(ECHO) "       A prefix to compiler invocations, usually 'ccache' or 'path/to/ccache'"
+	@$(ECHO)
+	@$(ECHO) "   QMAKE=$(QMAKE)"
+	@$(ECHO) "       How to invoke qmake, usually 'qmake', 'qmake-qt5' or 'path/to/qmake'"
+	@$(ECHO)
+	@$(ECHO) "   WITH_PREBUILT_FIRMWARE=$(WITH_PREBUILT_FIRMWARE)"
+	@$(ECHO) "       Set to path of prebuilt firmware or empty to build firmware when needed"
+# TODO: add other things like downloads and tools directories, linux make install parameters
+
+
 
 ##############################
 #
@@ -721,9 +612,7 @@ help:
 	@$(ECHO) "     arm_sdk_install      - Install the GNU ARM gcc toolchain"
 	@$(ECHO) "     qt_sdk_install       - Install the QT development tools"
 	@$(ECHO) "     nsis_install         - Install the NSIS Unicode (Windows only)"
-	@$(ECHO) "     sdl_install          - Install the SDL library (Windows only)"
 	@$(ECHO) "     mesawin_install      - Install the OpenGL32 DLL (Windows only)"
-	@$(ECHO) "     openssl_install      - Install the OpenSSL libraries (Windows only)"
 	@$(ECHO) "     uncrustify_install   - Install the Uncrustify source code beautifier"
 	@$(ECHO) "     doxygen_install      - Install the Doxygen documentation generator"
 	@$(ECHO) "     gtest_install        - Install the GoogleTest framework"
@@ -830,9 +719,9 @@ help:
 	@$(ECHO) "     install              - Install GCS to \"DESTDIR\" with prefix \"prefix\" (Linux only)"
 	@$(ECHO)
 	@$(ECHO) "   [Code Formatting]"
-	@$(ECHO) "     uncrustify_<source>  - Reformat <source> code according to the project's standards"
+	@$(ECHO) "     pretty_<source>      - Reformat <source> code according to the project's standards"
 	@$(ECHO) "                            Supported sources are ($(UNCRUSTIFY_TARGETS))"
-	@$(ECHO) "     uncrustify_all       - Reformat all source code"
+	@$(ECHO) "     pretty               - Reformat all source code"
 	@$(ECHO)
 	@$(ECHO) "   [Code Documentation]"
 	@$(ECHO) "     docs_<source>        - Generate HTML documentation for <source>"
@@ -842,6 +731,7 @@ help:
 	@$(ECHO) "     docs_all_clean       - Delete all generated documentation"
 	@$(ECHO)
 	@$(ECHO) "   [Configuration]"
+	@$(ECHO) "     config_help          - Show information on how to configure the build"
 	@$(ECHO) "     config_new           - Place your make arguments in the config file"
 	@$(ECHO) "     config_append        - Place your make arguments in the config file but append"
 	@$(ECHO) "     config_clean         - Removes the config file"

README.md

@@ -30,9 +30,16 @@ Links for the LibrePilot Project
 
 - [Main project web site](https://www.librepilot.org)
 - [Project forums](https://forum.librepilot.org)
+- [Software downloads](https://librepilot.atlassian.net/wiki/display/LPDOC/Downloads)
+- [Wiki](https://librepilot.atlassian.net/wiki/display/LPDOC/Welcome)
 - [Source code repository](https://bitbucket.org/librepilot)
 - [Mirror](https://github.com/librepilot)
 - [Issue tracker](https://librepilot.atlassian.net)
 - [Gitter Chat](https://gitter.im/librepilot/LibrePilot)
 - IRC: #LibrePilot on FreeNode
 
+
+| Builder      | Status        |
+|:-------------|:--------------|
+| Travis CI    |[![Build Status](https://travis-ci.org/librepilot/LibrePilot.svg?branch=next)](https://travis-ci.org/librepilot/LibrePilot)|
+| Tea CI       |[![Build Status](https://tea-ci.org/api/badges/librepilot/LibrePilot/status.svg?branch=next)](https://tea-ci.org/librepilot/LibrePilot)|

WHATSNEW.txt

@@ -1,3 +1,229 @@
+-- RELEASE-16.09 - Second LibrePilot Release -- Black Rhino
+This is the second LibrePilot release.
+
+This release introduces new features and new hardware support like Sparky2 board and improved external mag support.
+
+New hardware support: 
+    Sparky2 board, Auxiliary Magnetometer: I2C and Naza GPS, Revo FlexiIO port usage e.g. PPM+GPS
+
+New input modes: 
+    Jeti Ex.Bus, Graupner Hott, FlySky IBus, PPM up to 16 channels, Revo/Sparky2 as OpenLRS receiver.
+
+New telemetry protocols: 
+    MSP, MAVLink. OSD devices that use those protocols may now be connected directly (e.g.: minimosd with MWOSD).
+
+New Flight oriented features: 
+    AlwaysStabilizeWhenArmed (Airmode) using switch, Measurement based D term gives smoother flight
+    SuperExpo (you may need half expo value compared to rel15.09), Camera tilt compensation,
+    Autotune module (except CC3D).
+
+GCS improvements:
+    PFD with terrain / OsgEarth improvements
+    Failsafe settings using GUI
+    Vehicle and Transmitter wizard improvements
+
+Known issues:
+    * [LP-289] - pidcontrol ne and down have nan dz if kp is zero
+
+The full list of bug fixes and enhancements in this release is available here:
+https://librepilot.atlassian.net/issues/?filter=10500
+
+
+Release Notes - LibrePilot - Version REL-16.09
+
+** Sub-task
+    * [LP-120] - Add Ublox GPS + I2C Mag to Wizard
+
+** Bug
+    * [LP-59] - Replace openpilot email address in packaging
+    * [LP-83] - Bricking of Revo and Sparky2
+    * [LP-111] - Fix directory hash calculated to only include tracked files
+    * [LP-119] - #if used instead of #ifdef in pios_msheap.c
+    * [LP-139] - Erroneous warning about missing pfd.svg
+    * [LP-143] - Fix the "firmware upload no responding" issue
+    * [LP-145] - CC3D GPS issue
+    * [LP-154] - Fix gitignore - bare config causes all config directories to be ignored.
+    * [LP-160] - Set default AccelTau value
+    * [LP-165] - Acro+ factor range in TxPID
+    * [LP-167] - Stable version checker points to bad url
+    * [LP-171] - Acro+ Link Roll and Pitch affects all banks
+    * [LP-175] - Fix src rpm name
+    * [LP-181] - QT5.5 : PFD parts are broken
+    * [LP-182] - CC3D/Revonano OPlink Telemetry issue @38400
+    * [LP-184] - make: incremental build issues
+    * [LP-185] - Debian dist detection broken
+    * [LP-191] - Make TxWizard more robust
+    * [LP-193] - Remove Libpng warnings 
+    * [LP-197] - QT-5.5.1 broken translations
+    * [LP-198] - Cannot detect lost of PPM signal 
+    * [LP-204] - Fast_invsqrtf() issue
+    * [LP-205] - Rate trainer wobble at max angle
+    * [LP-206] - AlwaysStabilizeWhenArmed need to be disabled at takeoff/landing
+    * [LP-209] - Oplm link_quality still good with link lost
+    * [LP-215] - OpLink controller Tx should force failsafe if PPM stream fails
+    * [LP-216] - GCS misbehaves on high DPI devices
+    * [LP-218] - msys2 provided opengl library breaks GCS
+    * [LP-221] - Increase Revo System stack size
+    * [LP-222] - Building osg and osgearth fails
+    * [LP-223] - Unit tests build is broken
+    * [LP-228] - CC3D reboot while import config file
+    * [LP-241] - Allow CruiseControl for Rate mode at least
+    * [LP-245] - GCS unsaved data prompt when nothing changed
+    * [LP-249] - Fix bug introduced in LP-235
+    * [LP-251] - UAVObjectGeneratorGCS::process_object uses incorrect param null check
+    * [LP-252] - GPSv9 drops packets
+    * [LP-257] - OSX compile issue introduced by a93f182
+    * [LP-258] - Update flight controller in real time locks to basic tab
+    * [LP-261] - Upgrade GCS map versions
+    * [LP-263] - GCS default config updates
+    * [LP-266] - pitch virtual board rotation in gui is limited to 90 degrees
+    * [LP-273] - Reset Mag alarm when going back to Basic complementary fusion algorithm
+    * [LP-274] - Consistent Attitude board rotation values for all boards
+    * [LP-275] - OSX build errors
+    * [LP-277] - OPMap compilation warning
+    * [LP-281] - PIOS_SENSORS_GetInstanceByType() has incorrect matching operator
+    * [LP-285] - Tx Wizard : Set Accessory neutral to middle range
+    * [LP-289] - pidcontrol ne and down have nan dz if kp is zero
+    * [LP-290] - Windows GCS uninstall is very long
+    * [LP-299] - gcc5 building isnan issue
+    * [LP-305] - GCS crashes shortly after start on OSX - when loading OPMap gadget
+    * [LP-309] - When arming with accessory switch, disarming timeout doesn't work.
+    * [LP-310] - osg: random GCS crashes when switching or closing PFDQml gadgets
+    * [LP-312] - GCS config - attitude - mag tab offers sparky2 i2c port on revo
+    * [LP-313] - using UAVObjectBrowser filter text always enables metadata display
+    * [LP-321] - MSP in ReceiverPort menu for RevoNano
+    * [LP-333] - Sparky2 I2CPort needs GPIO_PuPd_UP instead of NOPULL
+    * [LP-339] - Avoid AutoTakeOff flight mode while already armed
+    * [LP-341] - VCP doesn't work on Windows 10 or 8.1
+    * [LP-362] - GCS crashes when logging to file with -log command line argument
+    * [LP-363] - OPMap missing tiles
+    * [LP-369] - Fix availability condition for VCP
+    * [LP-382] - MSP stack overflow on PID save op.
+    * [LP-387] - Sparky2 analog port mapping
+    * [LP-388] - Wrong AuxMag calibration due to wrong initial settings
+    * [LP-391] - Some CC3D ports cause a boot issue and re-init to defaults.
+    * [LP-392] - Revo attitude settings is missing the "Zero gyro when arming" checkbox
+    * [LP-395] - Raise BoardSteadyMaxVariance to support some boards having higher gyro noise
+    * [LP-400] - Doxygen document build fails with latex errors
+    * [LP-401] - Reboot is required after AutoTune is set in FMS
+    * [LP-406] - Windows driver fails to install
+    * [LP-409] - make fw_dist fails on windows
+    * [LP-421] - GCS setup wizard welcome panel is too big on high dpi screens
+    * [LP-423] - HMC5x83 driver dereferences null pointer
+    * [LP-424] - pios_openlrs.c has incorrect reference to rfm22b_id
+    * [LP-429] - changes to FlightModeSettings do not trigger a configuration check
+    * [LP-444] - I2C alarm
+    * [LP-447] - ESC calibration failure with FVT LitteBee 20A
+
+
+** Story
+    * [LP-32] - osgearth integration (follow up cleanups)
+
+** New Feature
+    * [LP-29] - osgearth integration
+    * [LP-149] - Add STM32F427/429/437/439 chip support, preparation for brand new board.
+    * [LP-212] - Support DJI GPS and mag combo uses one port
+    * [LP-214] - Camera tilt compensation
+    * [LP-233] - OneShot42 / MultiShot support
+    * [LP-280] - After firmware boots, start calibration when vehicle is not moving
+    * [LP-286] - Port search field in UAVBrowser from TL
+    * [LP-291] - Port MSP support from dRonin
+    * [LP-298] - Create iBus support for RX
+    * [LP-327] - Wait for board to be steady before calibrating gyro
+    * [LP-364] - Port and improve MavLink support from dRonin
+    * [LP-425] - Add Credits to the About dialog
+
+** Task
+    * [LP-2] - Upgrade to Qt 5.5
+    * [LP-30] - osg/osgearth/marble build scripts
+    * [LP-40] - Add support for TravisCI
+    * [LP-72] - Sparky 2 support
+    * [LP-73] - External Mags on I2C
+    * [LP-76] - Port Tau Labs Autotune to LP
+    * [LP-88] - Remove OpenPilot branding from .commit-template
+    * [LP-140] - Update Logo files in Artwork
+    * [LP-186] - Add copyright to qml and js files
+    * [LP-187] - Use Msys2
+    * [LP-194] - Hide Yaw Attitude related parameter from Stabilization panel
+    * [LP-195] - Update World Magnetic Model
+    * [LP-200] - Remove Opie
+    * [LP-201] - Update Y6 mixer
+    * [LP-208] - Upgrade to Qt 5.6
+    * [LP-230] - PFD refresh after recent additions
+    * [LP-247] - Add Naza GPS/Mag to Wizard
+    * [LP-267] - Enable more options in the current GUI for fusion algorithm
+    * [LP-292] - Oplink tab cleanup
+    * [LP-306] - Update Ubuntu PPA to build with osgearth
+    * [LP-307] - Set up Tea CI
+    * [LP-315] - Update vehicle templates
+    * [LP-317] - Update RPM packaging for osgearth
+    * [LP-325] - Reduce the threshold for ASWA switch
+    * [LP-328] - Sparky2 reboots constantly with only USB power and unpowered external mag
+    * [LP-330] - Fix copyright symbol in all code, make it consistent
+    * [LP-349] - shut up the plan warning alarm
+    * [LP-373] - Add bitbucket pipelines
+    * [LP-374] - Build x86_64 windows on TeaCI as well.
+    * [LP-394] - Upload build results from Tea-Ci
+
+** Improvement
+    * [LP-96] - Review CPU idle time counter
+    * [LP-97] - Unify Init process between revo*-cc3d boards
+    * [LP-104] - HOTT SUMD support
+    * [LP-147] - Rc transmitter wizard : Auto detect flight mode number
+    * [LP-150] - Run Attitude calculation on CC/CC3D at slower rate than gyro samples
+    * [LP-151] - Settable OPLink (and FC) Device ID
+    * [LP-164] - change OSX dmg .webloc to point to LP website
+    * [LP-168] - Copy the same content and url list as www.librepilot.org in README.md 
+    * [LP-174] - Add current value display to RcInput tab
+    * [LP-176] - Allow overriding of package type
+    * [LP-177] - Make debian package src use pre-compiled firmware
+    * [LP-178] - Add pass through feature for FixedWing
+    * [LP-179] - Highlight stabilization mode currently used
+    * [LP-183] - upgrade GCS uav object generator to Qt 5.5
+    * [LP-190] - Add openLRSng Rx support to OPLink/Revo
+    * [LP-196] - JETI EX Bus communication protocol support
+    * [LP-207] - EventDispatcher: Add "fast" callbacks
+    * [LP-219] - OPLink module should accept more than 8 PPM channels
+    * [LP-232] - Display flight mode alarm while setup
+    * [LP-235] - Make Failsafe settings more user friendly by allowing them to be set in the Configuration tab
+    * [LP-238] - Consolidate CPP firmware requirements within apps/boot-defs.mk
+    * [LP-239] - GPS on Flexi IO on Revo
+    * [LP-240] - Aux Mag setup help and GUI
+    * [LP-254] - Set CruiseControl default CruiseControlMaxThrust to 100
+    * [LP-256] - Sparky2 timers and output banks and PPM
+    * [LP-268] - Add TX and RX packet rates to OPLink stats.
+    * [LP-269] - IoT Stream Service
+    * [LP-272] - Altitude velocity Integral default value is set too high
+    * [LP-276] - Measurement based D term
+    * [LP-293] - Add AlarmString() to alarms library.
+    * [LP-295] - OP-1900 fix autotakeoff/landing to not break fixed wing
+    * [LP-302] - Change motor numbering on config - vehicle tab to directional like NW
+    * [LP-304] - Improvements for performance counters
+    * [LP-311] - GCS jumps back to Basic Stabilization if FC changes anything
+    * [LP-322] - USB Com Bridge functionality on OPLink
+    * [LP-324] - MSP on Sparky2
+    * [LP-326] - supporting 16 channels PPM
+    * [LP-335] - add support for address sanitizer in GCS build system
+    * [LP-338] - upgrade GCS to Qt 5.6.1
+    * [LP-340] - AutoTune fix some time measurement issues in original code
+    * [LP-342] - pios_exti to allow runtime (re)configuration
+    * [LP-343] - PIOS_COM_Available() needs to give out more details about RX and TX availability
+    * [LP-352] - Increase Expo effect for high rates
+    * [LP-354] - Add Ublox AssistNow Autonomous setting
+    * [LP-361] - Led notification improvements
+    * [LP-365] - Cleanup com port setup in pios_board.c for coptercontrol
+    * [LP-366] - Set default velocity and altitude in gcs for new waypoints 
+    * [LP-377] - ComBridge Speed settings delete
+    * [LP-379] - Add receiverActivity to RC Input tab
+    * [LP-390] - Fix UAVO telemetry errors
+    * [LP-396] - Yaw AcroPlus controls in GUI
+    * [LP-410] - silence GCS logs
+    * [LP-411] - AutoTune Limit Outer PIDs on Powerful Multicopters - dRonin PR 1283
+    * [LP-417] - Heartbeat LED on OPLink
+    * [LP-428] - Reduce the threshold for arming switch
+    * [LP-441] - Template - Wizard dialog on small screens
+
+
 -- RELEASE-15.09 - First LibrePilot Release -- Supermoon Eclipse
 This is the first LibrePilot release. 
 The main focus of this release is to bring back support for CC3D and a general re-branding of the GCS.

artwork/Logo/LibrePilot_logo.svg

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bitbucket-pipelines.yml

@@ -0,0 +1,11 @@
+pipelines:
+  default:
+    - step:
+        script:
+          - add-apt-repository ppa:librepilot/tools -y
+          - apt-get update -q
+          - apt-get install -y libc6-i386 libudev-dev libusb-1.0-0-dev libsdl1.2-dev python libopenscenegraph-dev libosgearth-dev qt56-meta-minimal qt56svg qt56script qt56serialport qt56multimedia qt56translations qt56tools
+          - make build_sdk_install
+          - make all_flight
+          - make opfw_resource
+          - make gcs

fix_vehicle_templates.py

@@ -0,0 +1,62 @@
+#!/usr/bin/python
+
+ ###############################################################################
+ #
+ # The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
+ # Script to update vehicle templates files to match current UAVO structure
+ # and data.
+ #
+ ###############################################################################
+
+import json
+import re
+import collections
+import fnmatch
+import os
+
+class DecimalEncoder(json.JSONEncoder):
+    def default(self, obj):
+        if isinstance(obj, Decimal):
+            return float(obj)
+        return json.JSONEncoder.default(self, obj)
+
+json.encoder.FLOAT_REPR = lambda o: format(o, '.17g')
+
+files = []
+for root, dirnames, filenames in os.walk('ground/gcs/src/share/vehicletemplates/'):
+  for filename in fnmatch.filter(filenames, '*.optmpl'):
+    files.append(os.path.join(root, filename))
+
+for f in files:
+    data = json.load(open(f, 'r'), object_pairs_hook=collections.OrderedDict)
+
+    for item in data['objects']:
+        fieldsToRemove = []
+        for i in item['fields']:
+            name = i['name']
+            values = i['values']
+            if re.compile('ThrustPIDScaleCurve').match(name):
+                i['type'] = "int8"
+                for j in values:
+                    j['value'] = int(j['value'] * 100)
+            elif re.compile('AcroInsanityFactor').match(name):
+                i['type'] = "int8"
+                value = 0
+                for j in values:
+                    value = int(j['value'] * 100)
+                values.pop()
+                values.append({'name': 'roll', 'value': value})
+                values.append({'name': 'pitch', 'value': value})
+                values.append({'name': 'yaw', 'value': value})
+            elif re.compile('FeedForward').match(name):
+                fieldsToRemove.append(i)
+            elif re.compile('MaxAccel').match(name):
+                fieldsToRemove.append(i)
+            elif re.compile('AccelTime').match(name):
+                fieldsToRemove.append(i)
+            elif re.compile('DecelTime').match(name):
+                fieldsToRemove.append(i)
+        for field in fieldsToRemove:
+            item['fields'].remove(field)
+    with open(f, 'w') as outfile:
+        json.dump(data, outfile, indent=4, separators=(',', ': '), cls=DecimalEncoder)

flight/Makefile

@@ -8,7 +8,7 @@ export OPUAVTALK       := $(FLIGHT_ROOT_DIR)/uavtalk
 export FLIGHT_OUT_DIR  ?= $(CURDIR)
 
 # Define supported board lists
-ALL_BOARDS    := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano
+ALL_BOARDS    := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano sparky2
 
 # Short names of each board (used to display board name in parallel builds)
 coptercontrol_short    := 'cc  '
@@ -17,6 +17,7 @@ revolution_short       := 'revo'
 osd_short              := 'osd '
 revoproto_short        := 'revp'
 revonano_short         := 'revn'
+sparky2_short          := 'spk2'
 simposix_short         := 'posx'
 discoveryf4bare_short  := 'df4b'
 gpsplatinum_short      := 'gps9'
@@ -254,3 +255,62 @@ flight_uavobjects: $(UAVOBJGENERATOR)
 	$(V1) cd $(FLIGHT_UAVOBJ_DIR) && \
 	    $(UAVOBJGENERATOR) -flight $(UAVOBJ_XML_DIR) $(FLIGHT_ROOT_DIR)/..
 
+
+##############################
+#
+# Unit Tests
+#
+##############################
+
+ALL_UNITTESTS := logfs math lednotification
+
+# Build the directory for the unit tests
+UT_OUT_DIR := $(BUILD_DIR)/unit_tests
+DIRS += $(UT_OUT_DIR)
+
+.PHONY: all_ut
+all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS)))
+
+.PHONY: all_ut_xml
+all_ut_xml: $(addsuffix _xml, $(addprefix ut_, $(ALL_UNITTESTS)))
+
+.PHONY: all_ut_run
+all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
+
+.PHONY: all_ut_clean
+all_ut_clean:
+	@$(ECHO) " CLEAN      $(call toprel, $(UT_OUT_DIR))"
+	$(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
+
+# $(1) = Unit test name
+define UT_TEMPLATE
+.PHONY: ut_$(1)
+ut_$(1): ut_$(1)_run
+
+ut_$(1)_%: $$(UT_OUT_DIR)
+	$(V1) $(MKDIR) -p $(UT_OUT_DIR)/$(1)
+	$(V1) cd $(ROOT_DIR)/flight/tests/$(1) && \
+		$$(MAKE) -r --no-print-directory \
+		BUILD_TYPE=ut \
+		BOARD_SHORT_NAME=$(1) \
+		TOPDIR=$(ROOT_DIR)/flight/tests/$(1) \
+		OUTDIR="$(UT_OUT_DIR)/$(1)" \
+		TARGET=$(1) \
+		$$*
+
+.PHONY: ut_$(1)_clean
+ut_$(1)_clean:
+	@$(ECHO) " CLEAN      $(call toprel, $(UT_OUT_DIR)/$(1))"
+	$(V1) [ ! -d "$(UT_OUT_DIR)/$(1)" ] || $(RM) -r "$(UT_OUT_DIR)/$(1)"
+endef
+
+# Expand the unittest rules
+$(foreach ut, $(ALL_UNITTESTS), $(eval $(call UT_TEMPLATE,$(ut))))
+
+# Disable parallel make when the all_ut_run target is requested otherwise the TAP
+# output is interleaved with the rest of the make output.
+ifneq ($(strip $(filter all_ut_run,$(MAKECMDGOALS))),)
+.NOTPARALLEL:
+    $(info $(EMPTY) NOTE        Parallel make disabled by all_ut_run target so we have sane console output)
+endif
+

flight/libraries/WorldMagModel.c

@@ -2,11 +2,12 @@
  ******************************************************************************
  *
  * @file       WorldMagModel.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      Source file for the World Magnetic Model
  *             This is a port of code available from the US NOAA.
  *
- *             The hard coded coefficients should be valid until 2015.
+ *             The hard coded coefficients should be valid until 2020.
  *
  *             Updated coeffs from ..
  *             http://www.ngdc.noaa.gov/geomag/WMM/wmm_ddownload.shtml
@@ -60,96 +61,96 @@
 // first column not used but it will be optimized out by compiler
 static const float CoeffFile[91][6] = {
     { 0.0f,  0.0f,  0.0f,      0.0f,     0.0f,   0.0f   },
-    { 1.0f,  0.0f,  -29496.6f, 0.0f,     11.6f,  0.0f   },
+    { 1.0f,  0.0f,  -29438.5f, 0.0f,     10.7f,  0.0f   },
-    { 1.0f,  1.0f,  -1586.3f,  4944.4f,  16.5f,  -25.9f },
+    { 1.0f,  1.0f,  -1501.1f,  4796.2f,  17.9f,  -26.8f },
-    { 2.0f,  0.0f,  -2396.6f,  0.0f,     -12.1f, 0.0f   },
+    { 2.0f,  0.0f,  -2445.3f,  0.0f,     -8.6f,  0.0f   },
-    { 2.0f,  1.0f,  3026.1f,   -2707.7f, -4.4f,  -22.5f },
+    { 2.0f,  1.0f,  3012.5f,   -2845.6f, -3.3f,  -27.1f },
-    { 2.0f,  2.0f,  1668.6f,   -576.1f,  1.9f,   -11.8f },
+    { 2.0f,  2.0f,  1676.6f,   -642.0f,  2.4f,   -13.3f },
-    { 3.0f,  0.0f,  1340.1f,   0.0f,     0.4f,   0.0f   },
+    { 3.0f,  0.0f,  1351.1f,   0.0f,     3.1f,   0.0f   },
-    { 3.0f,  1.0f,  -2326.2f,  -160.2f,  -4.1f,  7.3f   },
+    { 3.0f,  1.0f,  -2352.3f,  -115.3f,  -6.2f,  8.4f   },
-    { 3.0f,  2.0f,  1231.9f,   251.9f,   -2.9f,  -3.9f  },
+    { 3.0f,  2.0f,  1225.6f,   245.0f,   -0.4f,  -0.4f  },
-    { 3.0f,  3.0f,  634.0f,    -536.6f,  -7.7f,  -2.6f  },
+    { 3.0f,  3.0f,  581.9f,    -538.3f,  -10.4f, 2.3f   },
-    { 4.0f,  0.0f,  912.6f,    0.0f,     -1.8f,  0.0f   },
+    { 4.0f,  0.0f,  907.2f,    0.0f,     -0.4f,  0.0f   },
-    { 4.0f,  1.0f,  808.9f,    286.4f,   2.3f,   1.1f   },
+    { 4.0f,  1.0f,  813.7f,    283.4f,   0.8f,   -0.6f  },
-    { 4.0f,  2.0f,  166.7f,    -211.2f,  -8.7f,  2.7f   },
+    { 4.0f,  2.0f,  120.3f,    -188.6f,  -9.2f,  5.3f   },
-    { 4.0f,  3.0f,  -357.1f,   164.3f,   4.6f,   3.9f   },
+    { 4.0f,  3.0f,  -335.0f,   180.9f,   4.0f,   3.0f   },
-    { 4.0f,  4.0f,  89.4f,     -309.1f,  -2.1f,  -0.8f  },
+    { 4.0f,  4.0f,  70.3f,     -329.5f,  -4.2f,  -5.3f  },
-    { 5.0f,  0.0f,  -230.9f,   0.0f,     -1.0f,  0.0f   },
+    { 5.0f,  0.0f,  -232.6f,   0.0f,     -0.2f,  0.0f   },
-    { 5.0f,  1.0f,  357.2f,    44.6f,    0.6f,   0.4f   },
+    { 5.0f,  1.0f,  360.1f,    47.4f,    0.1f,   0.4f   },
-    { 5.0f,  2.0f,  200.3f,    188.9f,   -1.8f,  1.8f   },
+    { 5.0f,  2.0f,  192.4f,    196.9f,   -1.4f,  1.6f   },
-    { 5.0f,  3.0f,  -141.1f,   -118.2f,  -1.0f,  1.2f   },
+    { 5.0f,  3.0f,  -141.0f,   -119.4f,  0.0f,   -1.1f  },
-    { 5.0f,  4.0f,  -163.0f,   0.0f,     0.9f,   4.0f   },
+    { 5.0f,  4.0f,  -157.4f,   16.1f,    1.3f,   3.3f   },
-    { 5.0f,  5.0f,  -7.8f,     100.9f,   1.0f,   -0.6f  },
+    { 5.0f,  5.0f,  4.3f,      100.1f,   3.8f,   0.1f   },
-    { 6.0f,  0.0f,  72.8f,     0.0f,     -0.2f,  0.0f   },
+    { 6.0f,  0.0f,  69.5f,     0.0f,     -0.5f,  0.0f   },
-    { 6.0f,  1.0f,  68.6f,     -20.8f,   -0.2f,  -0.2f  },
+    { 6.0f,  1.0f,  67.4f,     -20.7f,   -0.2f,  0.0f   },
-    { 6.0f,  2.0f,  76.0f,     44.1f,    -0.1f,  -2.1f  },
+    { 6.0f,  2.0f,  72.8f,     33.2f,    -0.6f,  -2.2f  },
-    { 6.0f,  3.0f,  -141.4f,   61.5f,    2.0f,   -0.4f  },
+    { 6.0f,  3.0f,  -129.8f,   58.8f,    2.4f,   -0.7f  },
-    { 6.0f,  4.0f,  -22.8f,    -66.3f,   -1.7f,  -0.6f  },
+    { 6.0f,  4.0f,  -29.0f,    -66.5f,   -1.1f,  0.1f   },
-    { 6.0f,  5.0f,  13.2f,     3.1f,     -0.3f,  0.5f   },
+    { 6.0f,  5.0f,  13.2f,     7.3f,     0.3f,   1.0f   },
-    { 6.0f,  6.0f,  -77.9f,    55.0f,    1.7f,   0.9f   },
+    { 6.0f,  6.0f,  -70.9f,    62.5f,    1.5f,   1.3f   },
-    { 7.0f,  0.0f,  80.5f,     0.0f,     0.1f,   0.0f   },
+    { 7.0f,  0.0f,  81.6f,     0.0f,     0.2f,   0.0f   },
-    { 7.0f,  1.0f,  -75.1f,    -57.9f,   -0.1f,  0.7f   },
+    { 7.0f,  1.0f,  -76.1f,    -54.1f,   -0.2f,  0.7f   },
-    { 7.0f,  2.0f,  -4.7f,     -21.1f,   -0.6f,  0.3f   },
+    { 7.0f,  2.0f,  -6.8f,     -19.4f,   -0.4f,  0.5f   },
-    { 7.0f,  3.0f,  45.3f,     6.5f,     1.3f,   -0.1f  },
+    { 7.0f,  3.0f,  51.9f,     5.6f,     1.3f,   -0.2f  },
-    { 7.0f,  4.0f,  13.9f,     24.9f,    0.4f,   -0.1f  },
+    { 7.0f,  4.0f,  15.0f,     24.4f,    0.2f,   -0.1f  },
-    { 7.0f,  5.0f,  10.4f,     7.0f,     0.3f,   -0.8f  },
+    { 7.0f,  5.0f,  9.3f,      3.3f,     -0.4f,  -0.7f  },
-    { 7.0f,  6.0f,  1.7f,      -27.7f,   -0.7f,  -0.3f  },
+    { 7.0f,  6.0f,  -2.8f,     -27.5f,   -0.9f,  0.1f   },
-    { 7.0f,  7.0f,  4.9f,      -3.3f,    0.6f,   0.3f   },
+    { 7.0f,  7.0f,  6.7f,      -2.3f,    0.3f,   0.1f   },
-    { 8.0f,  0.0f,  24.4f,     0.0f,     -0.1f,  0.0f   },
+    { 8.0f,  0.0f,  24.0f,     0.0f,     0.0f,   0.0f   },
-    { 8.0f,  1.0f,  8.1f,      11.0f,    0.1f,   -0.1f  },
+    { 8.0f,  1.0f,  8.6f,      10.2f,    0.1f,   -0.3f  },
-    { 8.0f,  2.0f,  -14.5f,    -20.0f,   -0.6f,  0.2f   },
+    { 8.0f,  2.0f,  -16.9f,    -18.1f,   -0.5f,  0.3f   },
-    { 8.0f,  3.0f,  -5.6f,     11.9f,    0.2f,   0.4f   },
+    { 8.0f,  3.0f,  -3.2f,     13.2f,    0.5f,   0.3f   },
-    { 8.0f,  4.0f,  -19.3f,    -17.4f,   -0.2f,  0.4f   },
+    { 8.0f,  4.0f,  -20.6f,    -14.6f,   -0.2f,  0.6f   },
-    { 8.0f,  5.0f,  11.5f,     16.7f,    0.3f,   0.1f   },
+    { 8.0f,  5.0f,  13.3f,     16.2f,    0.4f,   -0.1f  },
-    { 8.0f,  6.0f,  10.9f,     7.0f,     0.3f,   -0.1f  },
+    { 8.0f,  6.0f,  11.7f,     5.7f,     0.2f,   -0.2f  },
-    { 8.0f,  7.0f,  -14.1f,    -10.8f,   -0.6f,  0.4f   },
+    { 8.0f,  7.0f,  -16.0f,    -9.1f,    -0.4f,  0.3f   },
-    { 8.0f,  8.0f,  -3.7f,     1.7f,     0.2f,   0.3f   },
+    { 8.0f,  8.0f,  -2.0f,     2.2f,     0.3f,   0.0f   },
     { 9.0f,  0.0f,  5.4f,      0.0f,     0.0f,   0.0f   },
-    { 9.0f,  1.0f,  9.4f,      -20.5f,   -0.1f,  0.0f   },
+    { 9.0f,  1.0f,  8.8f,      -21.6f,   -0.1f,  -0.2f  },
-    { 9.0f,  2.0f,  3.4f,      11.5f,    0.0f,   -0.2f  },
+    { 9.0f,  2.0f,  3.1f,      10.8f,    -0.1f,  -0.1f  },
-    { 9.0f,  3.0f,  -5.2f,     12.8f,    0.3f,   0.0f   },
+    { 9.0f,  3.0f,  -3.1f,     11.7f,    0.4f,   -0.2f  },
-    { 9.0f,  4.0f,  3.1f,      -7.2f,    -0.4f,  -0.1f  },
+    { 9.0f,  4.0f,  0.6f,      -6.8f,    -0.5f,  0.1f   },
-    { 9.0f,  5.0f,  -12.4f,    -7.4f,    -0.3f,  0.1f   },
+    { 9.0f,  5.0f,  -13.3f,    -6.9f,    -0.2f,  0.1f   },
-    { 9.0f,  6.0f,  -0.7f,     8.0f,     0.1f,   0.0f   },
+    { 9.0f,  6.0f,  -0.1f,     7.8f,     0.1f,   0.0f   },
-    { 9.0f,  7.0f,  8.4f,      2.1f,     -0.1f,  -0.2f  },
+    { 9.0f,  7.0f,  8.7f,      1.0f,     0.0f,   -0.2f  },
-    { 9.0f,  8.0f,  -8.5f,     -6.1f,    -0.4f,  0.3f   },
+    { 9.0f,  8.0f,  -9.1f,     -3.9f,    -0.2f,  0.4f   },
-    { 9.0f,  9.0f,  -10.1f,    7.0f,     -0.2f,  0.2f   },
+    { 9.0f,  9.0f,  -10.5f,    8.5f,     -0.1f,  0.3f   },
-    { 10.0f, 0.0f,  -2.0f,     0.0f,     0.0f,   0.0f   },
+    { 10.0f, 0.0f,  -1.9f,     0.0f,     0.0f,   0.0f   },
-    { 10.0f, 1.0f,  -6.3f,     2.8f,     0.0f,   0.1f   },
+    { 10.0f, 1.0f,  -6.5f,     3.3f,     0.0f,   0.1f   },
-    { 10.0f, 2.0f,  0.9f,      -0.1f,    -0.1f,  -0.1f  },
+    { 10.0f, 2.0f,  0.2f,      -0.3f,    -0.1f,  -0.1f  },
-    { 10.0f, 3.0f,  -1.1f,     4.7f,     0.2f,   0.0f   },
+    { 10.0f, 3.0f,  0.6f,      4.6f,     0.3f,   0.0f   },
-    { 10.0f, 4.0f,  -0.2f,     4.4f,     0.0f,   -0.1f  },
+    { 10.0f, 4.0f,  -0.6f,     4.4f,     -0.1f,  0.0f   },
-    { 10.0f, 5.0f,  2.5f,      -7.2f,    -0.1f,  -0.1f  },
+    { 10.0f, 5.0f,  1.7f,      -7.9f,    -0.1f,  -0.2f  },
-    { 10.0f, 6.0f,  -0.3f,     -1.0f,    -0.2f,  0.0f   },
+    { 10.0f, 6.0f,  -0.7f,     -0.6f,    -0.1f,  0.1f   },
-    { 10.0f, 7.0f,  2.2f,      -3.9f,    0.0f,   -0.1f  },
+    { 10.0f, 7.0f,  2.1f,      -4.1f,    0.0f,   -0.1f  },
-    { 10.0f, 8.0f,  3.1f,      -2.0f,    -0.1f,  -0.2f  },
+    { 10.0f, 8.0f,  2.3f,      -2.8f,    -0.2f,  -0.2f  },
-    { 10.0f, 9.0f,  -1.0f,     -2.0f,    -0.2f,  0.0f   },
+    { 10.0f, 9.0f,  -1.8f,     -1.1f,    -0.1f,  0.1f   },
-    { 10.0f, 10.0f, -2.8f,     -8.3f,    -0.2f,  -0.1f  },
+    { 10.0f, 10.0f, -3.6f,     -8.7f,    -0.2f,  -0.1f  },
-    { 11.0f, 0.0f,  3.0f,      0.0f,     0.0f,   0.0f   },
+    { 11.0f, 0.0f,  3.1f,      0.0f,     0.0f,   0.0f   },
-    { 11.0f, 1.0f,  -1.5f,     0.2f,     0.0f,   0.0f   },
+    { 11.0f, 1.0f,  -1.5f,     -0.1f,    0.0f,   0.0f   },
-    { 11.0f, 2.0f,  -2.1f,     1.7f,     0.0f,   0.1f   },
+    { 11.0f, 2.0f,  -2.3f,     2.1f,     -0.1f,  0.1f   },
-    { 11.0f, 3.0f,  1.7f,      -0.6f,    0.1f,   0.0f   },
+    { 11.0f, 3.0f,  2.1f,      -0.7f,    0.1f,   0.0f   },
-    { 11.0f, 4.0f,  -0.5f,     -1.8f,    0.0f,   0.1f   },
+    { 11.0f, 4.0f,  -0.9f,     -1.1f,    0.0f,   0.1f   },
-    { 11.0f, 5.0f,  0.5f,      0.9f,     0.0f,   0.0f   },
+    { 11.0f, 5.0f,  0.6f,      0.7f,     0.0f,   0.0f   },
-    { 11.0f, 6.0f,  -0.8f,     -0.4f,    0.0f,   0.1f   },
+    { 11.0f, 6.0f,  -0.7f,     -0.2f,    0.0f,   0.0f   },
-    { 11.0f, 7.0f,  0.4f,      -2.5f,    0.0f,   0.0f   },
+    { 11.0f, 7.0f,  0.2f,      -2.1f,    0.0f,   0.1f   },
-    { 11.0f, 8.0f,  1.8f,      -1.3f,    0.0f,   -0.1f  },
+    { 11.0f, 8.0f,  1.7f,      -1.5f,    0.0f,   0.0f   },
-    { 11.0f, 9.0f,  0.1f,      -2.1f,    0.0f,   -0.1f  },
+    { 11.0f, 9.0f,  -0.2f,     -2.5f,    0.0f,   -0.1f  },
-    { 11.0f, 10.0f, 0.7f,      -1.9f,    -0.1f,  0.0f   },
+    { 11.0f, 10.0f, 0.4f,      -2.0f,    -0.1f,  0.0f   },
-    { 11.0f, 11.0f, 3.8f,      -1.8f,    0.0f,   -0.1f  },
+    { 11.0f, 11.0f, 3.5f,      -2.3f,    -0.1f,  -0.1f  },
-    { 12.0f, 0.0f,  -2.2f,     0.0f,     0.0f,   0.0f   },
+    { 12.0f, 0.0f,  -2.0f,     0.0f,     0.1f,   0.0f   },
-    { 12.0f, 1.0f,  -0.2f,     -0.9f,    0.0f,   0.0f   },
+    { 12.0f, 1.0f,  -0.3f,     -1.0f,    0.0f,   0.0f   },
-    { 12.0f, 2.0f,  0.3f,      0.3f,     0.1f,   0.0f   },
+    { 12.0f, 2.0f,  0.4f,      0.5f,     0.0f,   0.0f   },
-    { 12.0f, 3.0f,  1.0f,      2.1f,     0.1f,   0.0f   },
+    { 12.0f, 3.0f,  1.3f,      1.8f,     0.1f,   -0.1f  },
-    { 12.0f, 4.0f,  -0.6f,     -2.5f,    -0.1f,  0.0f   },
+    { 12.0f, 4.0f,  -0.9f,     -2.2f,    -0.1f,  0.0f   },
-    { 12.0f, 5.0f,  0.9f,      0.5f,     0.0f,   0.0f   },
+    { 12.0f, 5.0f,  0.9f,      0.3f,     0.0f,   0.0f   },
-    { 12.0f, 6.0f,  -0.1f,     0.6f,     0.0f,   0.1f   },
+    { 12.0f, 6.0f,  0.1f,      0.7f,     0.1f,   0.0f   },
-    { 12.0f, 7.0f,  0.5f,      0.0f,     0.0f,   0.0f   },
+    { 12.0f, 7.0f,  0.5f,      -0.1f,    0.0f,   0.0f   },
-    { 12.0f, 8.0f,  -0.4f,     0.1f,     0.0f,   0.0f   },
+    { 12.0f, 8.0f,  -0.4f,     0.3f,     0.0f,   0.0f   },
-    { 12.0f, 9.0f,  -0.4f,     0.3f,     0.0f,   0.0f   },
+    { 12.0f, 9.0f,  -0.4f,     0.2f,     0.0f,   0.0f   },
     { 12.0f, 10.0f, 0.2f,      -0.9f,    0.0f,   0.0f   },
-    { 12.0f, 11.0f, -0.8f,     -0.2f,    -0.1f,  0.0f   },
+    { 12.0f, 11.0f, -0.9f,     -0.2f,    0.0f,   0.0f   },
-    { 12.0f, 12.0f, 0.0f,      0.9f,     0.1f,   0.0f   }
+    { 12.0f, 12.0f, 0.0f,      0.7f,     0.0f,   0.0f   }
 };
 
 static WMMtype_Ellipsoid *Ellip = NULL;
@@ -190,10 +191,10 @@ int WMM_Initialize()
     MagneticModel->nMaxSecVar = WMM_MAX_SECULAR_VARIATION_MODEL_DEGREES;
     MagneticModel->SecularVariationUsed = 0;
 
-    // Really, Really needs to be read from a file - out of date in 2015 at latest
+    // Really, Really needs to be read from a file - out of date in 2020 at latest
     MagneticModel->EditionDate = 0.0f; /* OP change. Originally 5.7863328170559505e-307, truncates to 0.0f */
-    MagneticModel->epoch = 2010.0f;
+    MagneticModel->epoch = 2015.0f;
-    sprintf(MagneticModel->ModelName, "WMM-2010");
+    sprintf(MagneticModel->ModelName, "WMM-2015");
 
     return 0; // OK
 }

flight/libraries/alarms.c

@@ -6,7 +6,8 @@
  * @brief OpenPilot System libraries are available to all OP modules.
  * @{
  * @file       alarms.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      Library for setting and clearing system alarms
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -281,6 +282,107 @@ SystemAlarmsAlarmOptions AlarmsGetHighestSeverity()
     return highest;
 }
 
+
+static const char *const systemalarms_severity_names[] = {
+    [SYSTEMALARMS_ALARM_UNINITIALISED] = "UNINITIALISED",
+    [SYSTEMALARMS_ALARM_OK]       = "OK",
+    [SYSTEMALARMS_ALARM_WARNING]  = "WARNING",
+    [SYSTEMALARMS_ALARM_CRITICAL] = "CRITICAL",
+    [SYSTEMALARMS_ALARM_ERROR]    = "ERROR"
+};
+
+static const char *const systemalarms_alarm_names[] = {
+    [SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION] = "CONFIG",
+    [SYSTEMALARMS_ALARM_BOOTFAULT]     = "BOOT",
+    [SYSTEMALARMS_ALARM_OUTOFMEMORY]   = "MEM",
+    [SYSTEMALARMS_ALARM_STACKOVERFLOW] = "STACK",
+    [SYSTEMALARMS_ALARM_CPUOVERLOAD]   = "CPU",
+    [SYSTEMALARMS_ALARM_EVENTSYSTEM]   = "EVENT",
+    [SYSTEMALARMS_ALARM_TELEMETRY]     = "TELEMETRY",
+    [SYSTEMALARMS_ALARM_RECEIVER] = "INPUT",
+    [SYSTEMALARMS_ALARM_MANUALCONTROL] = "MANUAL",
+    [SYSTEMALARMS_ALARM_ACTUATOR]      = "ACTUATOR",
+    [SYSTEMALARMS_ALARM_ATTITUDE]      = "ATTI",
+    [SYSTEMALARMS_ALARM_SENSORS]       = "SENSOR",
+    [SYSTEMALARMS_ALARM_MAGNETOMETER]  = "MAG",
+    [SYSTEMALARMS_ALARM_AIRSPEED]      = "AIRSPD",
+    [SYSTEMALARMS_ALARM_STABILIZATION] = "STAB",
+    [SYSTEMALARMS_ALARM_GUIDANCE]      = "GUIDANCE",
+    [SYSTEMALARMS_ALARM_PATHPLAN]      = "PLAN",
+    [SYSTEMALARMS_ALARM_BATTERY]       = "BATT",
+    [SYSTEMALARMS_ALARM_FLIGHTTIME]    = "TIME",
+    [SYSTEMALARMS_ALARM_I2C] = "I2C",
+    [SYSTEMALARMS_ALARM_GPS] = "GPS",
+};
+
+static const char *const systemalarms_extendedalarmstatus_names[] = {
+    [SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED] = "CFG:REBOOT",
+    [SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE]     = "CFG:FLIGHTMODE",
+    [SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT] = "CFG:ONESHOT",
+    [SYSTEMALARMS_EXTENDEDALARMSTATUS_BADTHROTTLEORCOLLECTIVEINPUTRANGE] = "CFG:THR-COL",
+};
+
+size_t AlarmString(SystemAlarmsData *alarm, char *buffer, size_t buffer_size, SystemAlarmsAlarmOptions level, SystemAlarmsAlarmOptions *highestSeverity)
+{
+    size_t pos = 0;
+
+    PIOS_STATIC_ASSERT(NELEMENTS(systemalarms_alarm_names) == SYSTEMALARMS_ALARM_NUMELEM);
+
+    for (unsigned severity = SYSTEMALARMS_ALARM_ERROR; severity >= level; --severity) {
+        // should we prepend severity level here? No, not for now.
+
+        for (unsigned i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; ++i) {
+            if ((SystemAlarmsAlarmToArray(alarm->Alarm)[i] == severity)
+                && (systemalarms_alarm_names[i])) {
+                if (highestSeverity) { // they are already sorted by severity as we are processing in specific order
+                    *highestSeverity = severity;
+                    highestSeverity  = 0;
+                }
+
+                // in which case should we dig into extended alarm status?
+                // looks like SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION sets most of the extended alarms
+                // except SYSTEMALARMS_ALARM_BOOTFAULT which also sets SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED
+
+                const char *current_msg = systemalarms_alarm_names[i];
+
+                switch (i) {
+                case SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION:
+                    if (alarm->ExtendedAlarmStatus.SystemConfiguration < NELEMENTS(systemalarms_extendedalarmstatus_names)) {
+                        current_msg = systemalarms_extendedalarmstatus_names[alarm->ExtendedAlarmStatus.SystemConfiguration];
+                    }
+                    break;
+
+                case SYSTEMALARMS_ALARM_BOOTFAULT:
+                    if (alarm->ExtendedAlarmStatus.BootFault < NELEMENTS(systemalarms_extendedalarmstatus_names)) {
+                        current_msg = systemalarms_extendedalarmstatus_names[alarm->ExtendedAlarmStatus.BootFault];
+                    }
+                    break;
+                }
+
+                int current_len = strlen(current_msg);
+
+                if ((pos + current_len + 1) > buffer_size) {
+                    break;
+                }
+
+                memcpy(buffer + pos, current_msg, current_len);
+
+                pos += current_len;
+
+                buffer[pos++] = ',';
+            }
+        }
+    }
+
+    if (pos > 0) {
+        --pos; // get rid of that trailing separator.
+    }
+
+    buffer[pos] = 0;
+
+    return pos; // return length of the string in buffer. Actual bytes written is +1
+}
+
 /**
  * @}
  * @}

flight/libraries/auxmagsupport.c

@@ -2,7 +2,8 @@
  ******************************************************************************
  *
  * @file       auxmagsupport.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
  * @brief      Functions to handle aux mag data and calibration.
  *             --
  * @see        The GNU Public License (GPL) Version 3
@@ -37,16 +38,30 @@ AuxMagSettingsTypeOptions option;
 
 void auxmagsupport_reload_settings()
 {
+    AuxMagSettingsData cal;
+    float magQuat[4];
+    float R[3][3];
+
+    AuxMagSettingsGet(&cal);
+    mag_bias[0] = cal.mag_bias.X;
+    mag_bias[1] = cal.mag_bias.Y;
+    mag_bias[2] = cal.mag_bias.Z;
+
+    // convert the RPY mag board rotation to into a rotation matrix
+    // rotate the vector into the level hover frame (the attitude frame)
+    const float magRpy[3] = { cal.BoardRotation.Roll, cal.BoardRotation.Pitch, cal.BoardRotation.Yaw };
+    RPY2Quaternion(magRpy, magQuat);
+    Quaternion2R(magQuat, R);
+
+    // the mag transform only scales the raw mag values
+    matrix_mult_3x3f((float(*)[3])AuxMagSettingsmag_transformToArray(cal.mag_transform), R, mag_transform);
+
+    // GPSV9, Ext (unused), and Flexi
     AuxMagSettingsTypeGet(&option);
-    float a[3][3];
+
-    float b[3][3];
+    const uint8_t status = AUXMAGSENSOR_STATUS_NONE;
-    float rotz;
+    // next sample from other external mags will provide the right status if present
-    AuxMagSettingsmag_transformArrayGet((float *)a);
+    AuxMagSensorStatusSet((uint8_t *)&status);
-    AuxMagSettingsOrientationGet(&rotz);
-    rotz = DEG2RAD(rotz);
-    rot_about_axis_z(rotz, b);
-    matrix_mult_3x3f(a, b, mag_transform);
-    AuxMagSettingsmag_biasArrayGet(mag_bias);
 }
 
 void auxmagsupport_publish_samples(float mags[3], uint8_t status)

flight/libraries/inc/alarms.h

@@ -5,7 +5,8 @@
  * @addtogroup OpenPilotLibraries OpenPilot System Libraries
  * @{
  * @file       alarms.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      Include file of the alarm library
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -48,6 +49,8 @@ int32_t AlarmsHasErrors();
 int32_t AlarmsHasCritical();
 SystemAlarmsAlarmOptions AlarmsGetHighestSeverity();
 
+size_t AlarmString(SystemAlarmsData *alarm, char *buffer, size_t buffer_size, SystemAlarmsAlarmOptions level, SystemAlarmsAlarmOptions *highestSeverity);
+
 #endif // ALARMS_H
 
 /**

flight/libraries/inc/optypes.h

@@ -50,15 +50,18 @@ extern const Color_t Color_White;
 #define COLOR_BLACK   { .R = 0x00, .G = 0x00, .B = 0x00 }
 #define COLOR_OFF     COLOR_BLACK
 #define COLOR_RED     { .R = 0xFF, .G = 0x00, .B = 0x00 }
+#define COLOR_DARKRED { .R = 0x80, .G = 0x00, .B = 0x00 }
 #define COLOR_LIME    { .R = 0x00, .G = 0xFF, .B = 0x00 }
 #define COLOR_BLUE    { .R = 0x00, .G = 0x00, .B = 0xFF }
-#define COLOR_YELLOW  { .R = 0xFF, .G = 0xFF, .B = 0x00 }
+#define COLOR_YELLOW  { .R = 0xCC, .G = 0xCC, .B = 0x00 }
 #define COLOR_CIAN    { .R = 0x00, .G = 0xFF, .B = 0xFF }
 #define COLOR_MAGENTA { .R = 0xFF, .G = 0x00, .B = 0xFF }
 #define COLOR_NAVY    { .R = 0x00, .G = 0x00, .B = 0x80 }
 #define COLOR_GREEN   { .R = 0x00, .G = 0x80, .B = 0x00 }
 #define COLOR_PURPLE  { .R = 0x80, .G = 0x00, .B = 0x80 }
 #define COLOR_TEAL    { .R = 0x00, .G = 0x80, .B = 0x80 }
-#define COLOR_ORANGE  { .R = 0xFF, .G = 0xA5, .B = 0x00 }
+#define COLOR_ORANGE  { .R = 0xAA, .G = 0x44, .B = 0x00 }
 #define COLOR_WHITE   { .R = 0xAA, .G = 0xAA, .B = 0xAA }
+
+
 #endif /* UTIL_H */

flight/libraries/insgps13state.c

@@ -280,11 +280,11 @@ void INSSetBaroVar(float baro_var)
 
 void INSSetMagNorth(float B[3])
 {
-    float mag = sqrtf(B[0] * B[0] + B[1] * B[1] + B[2] * B[2]);
+    float invmag = invsqrtf(B[0] * B[0] + B[1] * B[1] + B[2] * B[2]);
 
-    ekf.Be[0] = B[0] / mag;
+    ekf.Be[0] = B[0] * invmag;
-    ekf.Be[1] = B[1] / mag;
+    ekf.Be[1] = B[1] * invmag;
-    ekf.Be[2] = B[2] / mag;
+    ekf.Be[2] = B[2] * invmag;
 }
 
 void INSStatePrediction(float gyro_data[3], float accel_data[3], float dT)
@@ -305,7 +305,7 @@ void INSStatePrediction(float gyro_data[3], float accel_data[3], float dT)
     // EKF prediction step
     LinearizeFG(ekf.X, U, ekf.F, ekf.G);
     RungeKutta(ekf.X, U, dT);
-    invqmag   = fast_invsqrtf(ekf.X[6] * ekf.X[6] + ekf.X[7] * ekf.X[7] + ekf.X[8] * ekf.X[8] + ekf.X[9] * ekf.X[9]);
+    invqmag   = invsqrtf(ekf.X[6] * ekf.X[6] + ekf.X[7] * ekf.X[7] + ekf.X[8] * ekf.X[8] + ekf.X[9] * ekf.X[9]);
     ekf.X[6] *= invqmag;
     ekf.X[7] *= invqmag;
     ekf.X[8] *= invqmag;
@@ -390,7 +390,7 @@ void INSCorrection(float mag_data[3], float Pos[3], float Vel[3],
 
 
     if (SensorsUsed & MAG_SENSORS) {
-        float invBmag = fast_invsqrtf(mag_data[0] * mag_data[0] + mag_data[1] * mag_data[1] + mag_data[2] * mag_data[2]);
+        float invBmag = invsqrtf(mag_data[0] * mag_data[0] + mag_data[1] * mag_data[1] + mag_data[2] * mag_data[2]);
         Z[6] = mag_data[0] * invBmag;
         Z[7] = mag_data[1] * invBmag;
         Z[8] = mag_data[2] * invBmag;
@@ -404,7 +404,7 @@ void INSCorrection(float mag_data[3], float Pos[3], float Vel[3],
     MeasurementEq(ekf.X, ekf.Be, Y);
     SerialUpdate(ekf.H, ekf.R, Z, Y, ekf.P, ekf.X, SensorsUsed);
 
-    float invqmag = fast_invsqrtf(ekf.X[6] * ekf.X[6] + ekf.X[7] * ekf.X[7] + ekf.X[8] * ekf.X[8] + ekf.X[9] * ekf.X[9]);
+    float invqmag = invsqrtf(ekf.X[6] * ekf.X[6] + ekf.X[7] * ekf.X[7] + ekf.X[8] * ekf.X[8] + ekf.X[9] * ekf.X[9]);
     ekf.X[6]  *= invqmag;
     ekf.X[7]  *= invqmag;
     ekf.X[8]  *= invqmag;

flight/libraries/math/mathmisc.c

@@ -5,8 +5,9 @@
  * @addtogroup Reuseable math functions
  * @{
  *
- * @file       mathmisc.h
+ * @file       mathmisc.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @brief      Reuseable math functions
  *
  * @see        The GNU Public License (GPL) Version 3
@@ -28,5 +29,17 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include <mathmisc.h>
 
-// space deliberately left empty, any non inline misc math functions can go here
+void pseudo_windowed_variance_init(pw_variance_t *variance, int32_t window_size)
+{
+    variance->new_sma  = 0.0f;
+    variance->new_smsa = 0.0f;
+    variance->p1 = 1.0f / (float)window_size;
+    variance->p2 = 1.0f - variance->p1;
+}
+
+float pseudo_windowed_variance_get(pw_variance_t *variance)
+{
+    return variance->new_smsa - variance->new_sma * variance->new_sma;
+}

flight/libraries/math/mathmisc.h

@@ -6,7 +6,8 @@
  * @{
  *
  * @file       mathmisc.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @brief      Reuseable math functions
  *
  * @see        The GNU Public License (GPL) Version 3
@@ -34,6 +35,38 @@
 #include <math.h>
 #include <stdint.h>
 
+typedef struct {
+    float p1;
+    float p2;
+    float new_sma;
+    float new_smsa;
+} pw_variance_t;
+
+/***
+ * initialize pseudo windowed
+ * @param variance the instance to be initialized
+ * @param window_size size of the sample window
+ */
+void pseudo_windowed_variance_init(pw_variance_t *variance, int32_t window_size);
+
+/***
+ * Push a new sample
+ * @param variance the working instance
+ * @param sample the new sample
+ */
+static inline void pseudo_windowed_variance_push_sample(pw_variance_t *variance, float sample)
+{
+    variance->new_sma  = variance->new_sma * variance->p2 + sample * variance->p1;
+    variance->new_smsa = variance->new_smsa * variance->p2 + sample * sample * variance->p1;
+}
+
+/***
+ * Get the current variance value
+ * @param variance the working instance
+ * @return
+ */
+float pseudo_windowed_variance_get(pw_variance_t *variance);
+
 // returns min(boundary1,boundary2) if val<min(boundary1,boundary2)
 // returns max(boundary1,boundary2) if val>max(boundary1,boundary2)
 // returns val if min(boundary1,boundary2)<=val<=max(boundary1,boundary2)
@@ -119,28 +152,12 @@ static inline float y_on_curve(float x, const pointf points[], int num_points)
     // Find the y value on the selected line.
     return y_on_line(x, &points[end_point - 1], &points[end_point]);
 }
-// Fast inverse square root implementation from "quake3-1.32b/code/game/q_math.c"
-// http://en.wikipedia.org/wiki/Fast_inverse_square_root
 
-static inline float fast_invsqrtf(float number)
+static inline float invsqrtf(float number)
 {
-    float x2, y;
+    float y;
-    const float threehalfs = 1.5F;
-
-    union {
-        float    f;
-        uint32_t u;
-    } i;
-
-    x2  = number * 0.5F;
-    y   = number;
-
-    i.f = y; // evil floating point bit level hacking
-    i.u = 0x5f3759df - (i.u >> 1); // what the fxck?
-    y   = i.f;
-    y   = y * (threehalfs - (x2 * y * y));   // 1st iteration
-// y  = y * ( threehalfs - ( x2 * y * y ) );   // 2nd iteration, this can be removed
 
+    y = 1.0f / sqrtf(number);
     return y;
 }
 

flight/libraries/math/pid.c

@@ -76,7 +76,7 @@ float pid_apply(struct pid *pid, const float err, float dT)
  * This version of apply uses setpoint weighting for the derivative component so the gain
  * on the gyro derivative can be different than the gain on the setpoint derivative
  */
-float pid_apply_setpoint(struct pid *pid, const pid_scaler *scaler, const float setpoint, const float measured, float dT)
+float pid_apply_setpoint(struct pid *pid, const pid_scaler *scaler, const float setpoint, const float measured, float dT, bool meas_based_d_term)
 {
     float err = setpoint - measured;
 
@@ -85,9 +85,18 @@ float pid_apply_setpoint(struct pid *pid, const pid_scaler *scaler, const float
     pid->iAccumulator  = boundf(pid->iAccumulator, pid->iLim * -1000.0f, pid->iLim * 1000.0f);
 
     // Calculate DT1 term,
+    float diff;
+    float derr = (-measured);
+
+    if (!meas_based_d_term) {
+        derr += deriv_gamma * setpoint;
+    }
+
+    diff = derr - pid->lastErr;
+    pid->lastErr = derr;
+
     float dterm = 0;
-    float diff  = ((deriv_gamma * setpoint - measured) - pid->lastErr);
+
-    pid->lastErr = (deriv_gamma * setpoint - measured);
     if (pid->d > 0.0f && dT > 0.0f) {
         // low pass filter derivative term. below formula is the same as
         // dterm = (1-alpha)*pid->lastDer + alpha * (...)/dT
@@ -95,7 +104,6 @@ float pid_apply_setpoint(struct pid *pid, const pid_scaler *scaler, const float
         dterm = pid->lastDer + dT / (dT + deriv_tau) * ((scaler->d * diff * pid->d / dT) - pid->lastDer);
         pid->lastDer = dterm;
     }
-
     return (err * scaler->p * pid->p) + pid->iAccumulator / 1000.0f + dterm;
 }
 

flight/libraries/math/pid.h

@@ -70,7 +70,7 @@ typedef struct pid_scaler_s {
 
 // ! Methods to use the pid structures
 float pid_apply(struct pid *pid, const float err, float dT);
-float pid_apply_setpoint(struct pid *pid, const pid_scaler *scaler, const float setpoint, const float measured, float dT);
+float pid_apply_setpoint(struct pid *pid, const pid_scaler *scaler, const float setpoint, const float measured, float dT, bool meas_based_d_term);
 void pid_zero(struct pid *pid);
 void pid_configure(struct pid *pid, float p, float i, float d, float iLim);
 void pid_configure_derivative(float cutoff, float gamma);

flight/libraries/mavlink/config.h

@@ -0,0 +1 @@
+#define MAVLINK_VERSION "1.0.7"

flight/libraries/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

flight/libraries/mavlink/v1.0/common/common.h

@@ -0,0 +1,1020 @@
+/** @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 } \
+           } \
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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 } \
+           } \
+      }, 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 // ifndef MAVLINK_MESSAGE_INFO
+
+#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_PX4      = 12, /* PX4 Autopilot - http://pixhawk.ethz.ch/px4/ | */
+    MAV_AUTOPILOT_ENUM_END = 13, /*  | */
+};
+#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 // ifndef HAVE_ENUM_MAV_TYPE
+
+/** @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 // ifndef HAVE_ENUM_MAV_COMPONENT
+
+/** @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 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. */
+#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_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 // ifndef HAVE_ENUM_MAV_CMD
+
+/** @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 Specifies the datatype of a MAVLink parameter. */
+#ifndef HAVE_ENUM_MAV_PARAM_TYPE
+#define HAVE_ENUM_MAV_PARAM_TYPE
+enum MAV_PARAM_TYPE {
+    MAV_PARAM_TYPE_UINT8    = 1, /* 8-bit unsigned integer | */
+    MAV_PARAM_TYPE_INT8     = 2, /* 8-bit signed integer | */
+    MAV_PARAM_TYPE_UINT16   = 3, /* 16-bit unsigned integer | */
+    MAV_PARAM_TYPE_INT16    = 4, /* 16-bit signed integer | */
+    MAV_PARAM_TYPE_UINT32   = 5, /* 32-bit unsigned integer | */
+    MAV_PARAM_TYPE_INT32    = 6, /* 32-bit signed integer | */
+    MAV_PARAM_TYPE_UINT64   = 7, /* 64-bit unsigned integer | */
+    MAV_PARAM_TYPE_INT64    = 8, /* 64-bit signed integer | */
+    MAV_PARAM_TYPE_REAL32   = 9, /* 32-bit floating-point | */
+    MAV_PARAM_TYPE_REAL64   = 10, /* 64-bit floating-point | */
+    MAV_PARAM_TYPE_ENUM_END = 11, /*  | */
+};
+#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

flight/libraries/mavlink/v1.0/common/custom_types.h

@@ -0,0 +1,25 @@
+/* Dervied from minimosd-extra code at https://github.com/diydrones/MinimOSD-Extra/blob/master/MinimOsd-Extra/OSD_Panels.ino (GPLv3) */
+
+
+#ifndef _CUSTOM_TYPES_H
+#define _CUSTOM_TYPES_H
+
+#define CUSTOM_MODE_STAB     0 /* manual airframe angle with manual throttle */
+#define CUSTOM_MODE_ACRO     1 /* manual body-frame angular rate with manual throttle */
+#define CUSTOM_MODE_ALTH     2 /* manual airframe angle with automatic throttle */
+#define CUSTOM_MODE_AUTO     3 /* fully automatic waypoint control using mission commands */
+#define CUSTOM_MODE_GUIDED   4 /* fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands */
+#define CUSTOM_MODE_LOITER   5 /* automatic horizontal acceleration with automatic throttle */
+#define CUSTOM_MODE_RTL      6 /* automatic return to launching point */
+#define CUSTOM_MODE_CIRCLE   7 /* automatic circular flight with automatic throttle */
+#define CUSTOM_MODE_POSH     8 /* Position: auto control; deprecated? */
+#define CUSTOM_MODE_LAND     9 /* automatic landing with horizontal position control */
+#define CUSTOM_MODE_OFLOITER 10 /* deprecated */
+#define CUSTOM_MODE_DRIFT    11 /* semi-automous position, yaw and throttle control */
+#define CUSTOM_MODE_SPORT    13 /* manual earth-frame angular rate control with manual throttle */
+#define CUSTOM_MODE_FLIP     14 /* automatically flip the vehicle on the roll axis */
+#define CUSTOM_MODE_ATUN     15 /* automatically tune the vehicle's roll and pitch gains */
+#define CUSTOM_MODE_PHLD     16 /* automatic position hold with manual override, with automatic throttle */
+#define CUSTOM_MODE_BRAK     17 /* full-brake using inertial/GPS system, no pilot input */
+
+#endif // ifndef _CUSTOM_TYPES_H

flight/libraries/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      1
+#endif
+
+#include "version.h"
+#include "common.h"
+
+#endif // MAVLINK_H

flight/libraries/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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+}
+
+#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+}
+
+#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/mavlink/v1.0/common/mavlink_msg_auth_key.h

@@ -0,0 +1,145 @@
+// 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
+}

flight/libraries/mavlink/v1.0/common/mavlink_msg_change_operator_control.h

@@ -0,0 +1,205 @@
+// 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 // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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
+}

flight/libraries/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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+}
+
+#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/mavlink/v1.0/common/mavlink_msg_debug_vect.h

@@ -0,0 +1,227 @@
+// 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 // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+}
+
+#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+}
+
+#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+}
+
+#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/mavlink/v1.0/common/mavlink_msg_gps_status.h

@@ -0,0 +1,253 @@
+// 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 // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+}
+
+#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+}
+
+#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+}
+
+#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+}
+
+#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+}
+
+#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+}
+
+#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/mavlink/v1.0/common/mavlink_msg_memory_vect.h

@@ -0,0 +1,205 @@
+// 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 // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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 // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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
+}

flight/libraries/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 // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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
+}

flight/libraries/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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+
+    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+}
+
+#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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
+}

flight/libraries/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 // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}

flight/libraries/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
+}

flight/libraries/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 // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// 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
+}