Merge pull request #471 from rosflight/better_rc_override

Change rc_override to enum for more verbose RC override

Author: JMoore5353

comms/mavlink/generating_v1.0_instructions.txt

@@ -1,13 +1,12 @@
 # get the mavlink/mavlink repository
-# git clone https://github.com/rosflight/mavlink.git
-git clone https://github.com/mavlink/mavlink.git
+git clone https://github.com/mavlink/mavlink.git --recursive
 
 # Go to your rosflight_firmware/comms/mavlink folder
 # Put the rosflight.xml file there if not already there
 
 # Create the .c/h files from that directory
 # If python3 doesn't work try installing future (pip install future).
-# If that doesn't work install Python2.7 and run with python2.7 instead.
+# If that doesn't work install Python3.8 and run with python3.8 instead.
 # in windows:
 rmdir /s v1.0 
 set PYTHONPATH=%PYTHONPATH%;path\to\mavlink\repo && python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=1.0 --output=./v1.0 rosflight.xml

comms/mavlink/mavlink.cpp

@@ -260,7 +260,7 @@ void Mavlink::send_sonar(uint8_t system_id,
   send_message(msg);
 }
 
-void Mavlink::send_status(uint8_t system_id, bool armed, bool failsafe, bool rc_override,
+void Mavlink::send_status(uint8_t system_id, bool armed, bool failsafe, uint16_t rc_override,
                           bool offboard, uint8_t error_code, uint8_t control_mode,
                           int16_t num_errors, int16_t loop_time_us)
 {

comms/mavlink/mavlink.h

@@ -79,7 +79,7 @@ class Mavlink : public CommLinkInterface
   void send_sonar(uint8_t system_id,
                   /* TODO enum type*/ uint8_t type, float range, float max_range,
                   float min_range) override;
-  void send_status(uint8_t system_id, bool armed, bool failsafe, bool rc_override, bool offboard,
+  void send_status(uint8_t system_id, bool armed, bool failsafe, uint16_t rc_override, bool offboard,
                    uint8_t error_code, uint8_t control_mode, int16_t num_errors,
                    int16_t loop_time_us) override;
   void send_timesync(uint8_t system_id, int64_t tc1, int64_t ts1) override;

comms/mavlink/rosflight.xml

@@ -1,29 +1,6 @@
 <?xml version="1.0"?>
 <?note
-# get the mavlink/mavlink repository
-git clone https://github.com/rosflight/mavlink.git
-
-# Go to your rosflight_firmware/comms/mavlink folder
-# Put the rosflight.xml file there if not already there
-
-# Create the .c/h files from that directory
-# If python3 doesn't work try installing future (pip install future).
-# If that doesn't work install Python2.7 and run with python2.7 instead.
-# in windows:
-rmdir /s v1.0 
-set PYTHONPATH=%PYTHONPATH%;path\to\mavlink\repo && python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=1.0 --output=./v1.0 rosflight.xml
-
-# e.g., 
-rmdir /s v1.0 
-set PYTHONPATH=%PYTHONPATH%;C:\Projects\mavlink && python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=1.0 --output=./v1.0 rosflight.xml
-
-# in Linux:
-sudo rm -r ./v1.0
-PYTHONPATH=$PYTHONPATH:/path/to/mavlink/repo python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=1.0 --output=./v1.0 rosflight.xml
-
-# If you are in the mavlink repo environment with rosflight.xml in the standard location:
-python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=1.0 --output=generated/include/mavlink/v1.0 message_definitions/v1.0/rosflight.xml
-# copy/paste the v1.0 directory into your rosflight_firmware/comms/mavlink folder
+See the generating_v1.0_instructions.txt to regenerate mavlink headers based off this file.
 ?>
 <mavlink>
     <enums>
@@ -283,7 +260,7 @@ python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=1.0 --output=generate
 			<description>Flight Status</description>
 			<field type="uint8_t" name="armed"/>
 			<field type="uint8_t" name="failsafe"/>
-			<field type="uint8_t" name="rc_override"/>
+			<field type="uint16_t" name="rc_override"/>
 			<field type="uint8_t" name="offboard"/>
 			<field type="uint8_t" name="error_code" enum="ROSFLIGHT_ERROR_CODE"/>
 			<field type="uint8_t" name="control_mode" enum="OFFBOARD_CONTROL_MODE"/>

comms/mavlink/v1.0/protocol.h

@@ -34,6 +34,14 @@
 #define MAVLINK_END_UART_SEND(chan, length)
 #endif
 
+/*
+  to get warnings when any WIP message is used, add this:
+  #define MAVLINK_WIP __attribute__((warning("MAVLink work in progress")))
+*/
+#ifndef MAVLINK_WIP
+#define MAVLINK_WIP
+#endif
+
 /* option to provide alternative implementation of mavlink_helpers.h */
 #ifdef MAVLINK_SEPARATE_HELPERS
 
@@ -179,6 +187,13 @@ static inline void byte_copy_8(char *dst, const char *src)
 */
 static inline void mav_array_memcpy(void *dest, const void *src, size_t n)
 {
+    // It would be tempting to do a strcpy/strncpy for the char[] type. Unfortunately, some
+    // existing MAVLink messages such as PARAM_EXT_VALUE.param_value use the char[] type for
+    // arbitrary data (including null), and would break.
+    //
+    // It would be nice to change such char[] types to uint8_t[] but that would change the
+    // CRC_EXTRA.
+
 	if (src == NULL) {
 		memset(dest, 0, n);
 	} else {

comms/mavlink/v1.0/rosflight/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 9006179629977798615
+#define MAVLINK_PRIMARY_XML_HASH 1891770357406712603
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 254

comms/mavlink/v1.0/rosflight/mavlink_msg_attitude_quaternion.h

@@ -310,7 +310,7 @@ static inline void mavlink_msg_attitude_quaternion_send_struct(mavlink_channel_t
 
 #if MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 /*
-  This variant of _send() can be used to save stack space by re-using
+  This variant of _send() can be used to save stack space by reusing
   memory from the receive buffer.  The caller provides a
   mavlink_message_t which is the size of a full mavlink message. This
   is usually the receive buffer for the channel, and allows a reply to an

comms/mavlink/v1.0/rosflight/mavlink_msg_diff_pressure.h

@@ -235,7 +235,7 @@ static inline void mavlink_msg_diff_pressure_send_struct(mavlink_channel_t chan,
 
 #if MAVLINK_MSG_ID_DIFF_PRESSURE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 /*
-  This variant of _send() can be used to save stack space by re-using
+  This variant of _send() can be used to save stack space by reusing
   memory from the receive buffer.  The caller provides a
   mavlink_message_t which is the size of a full mavlink message. This
   is usually the receive buffer for the channel, and allows a reply to an

comms/mavlink/v1.0/rosflight/mavlink_msg_external_attitude.h

@@ -250,7 +250,7 @@ static inline void mavlink_msg_external_attitude_send_struct(mavlink_channel_t c
 
 #if MAVLINK_MSG_ID_EXTERNAL_ATTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 /*
-  This variant of _send() can be used to save stack space by re-using
+  This variant of _send() can be used to save stack space by reusing
   memory from the receive buffer.  The caller provides a
   mavlink_message_t which is the size of a full mavlink message. This
   is usually the receive buffer for the channel, and allows a reply to an

comms/mavlink/v1.0/rosflight/mavlink_msg_heartbeat.h

@@ -276,7 +276,7 @@ static inline void mavlink_msg_heartbeat_send_struct(mavlink_channel_t chan, con
 
 #if MAVLINK_MSG_ID_HEARTBEAT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 /*
-  This variant of _send() can be used to save stack space by re-using
+  This variant of _send() can be used to save stack space by reusing
   memory from the receive buffer.  The caller provides a
   mavlink_message_t which is the size of a full mavlink message. This
   is usually the receive buffer for the channel, and allows a reply to an