Add gps time

CAstral/mavlink_msg_cap_status.h

@@ -11,7 +11,7 @@ typedef struct __mavlink_cap_status_t {
  uint32_t global_status; /*<  0-airspeed-cal, 1-parachute, 2-home init, 3-landed, 4-speed override, 5-altitude ovveride, 6-battery low, 7-battery critical, 8-falsafe, 9-failsafe rc loss, 10-failsafe GPS loss, 11-failsafe data link loss, 12-failsafe mission, 13-failsafe offboard loss, 14-failsafe loss of control, 15-failsafe_min_agl, 16 - failsafe_crit_agl, 17 - terrain failsafe enabled, 18 - altitude override type, 19 - speed override type, 20 - gimbal extended*/
  float speed_override_value; /*<  Speed override value*/
  uint32_t flightplan_hash; /*<  Flightplan hash*/
- float baro_altitude; /*<  Baro altitude value*/
+ float baro_altitude; /*<  Barometer altitude value*/
  float eph; /*<  Standard deviation of horizontal position error, (metres)*/
  float epv; /*<  Standard deviation of vertical position error, (metres)*/
  uint16_t number_of_photos; /*<  Number of photos taken in a mission*/
@@ -99,7 +99,7 @@ typedef struct __mavlink_cap_status_t {
  * @param speed_override_value  Speed override value
  * @param flightplan_hash  Flightplan hash
  * @param flightplan_items_count  Flightplan Items Count
- * @param baro_altitude  Baro altitude value
+ * @param baro_altitude  Barometer altitude value
  * @param eph  Standard deviation of horizontal position error, (metres)
  * @param epv  Standard deviation of vertical position error, (metres)
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -172,7 +172,7 @@ static inline uint16_t mavlink_msg_cap_status_pack(uint8_t system_id, uint8_t co
  * @param speed_override_value  Speed override value
  * @param flightplan_hash  Flightplan hash
  * @param flightplan_items_count  Flightplan Items Count
- * @param baro_altitude  Baro altitude value
+ * @param baro_altitude  Barometer altitude value
  * @param eph  Standard deviation of horizontal position error, (metres)
  * @param epv  Standard deviation of vertical position error, (metres)
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -271,7 +271,7 @@ static inline uint16_t mavlink_msg_cap_status_encode_chan(uint8_t system_id, uin
  * @param speed_override_value  Speed override value
  * @param flightplan_hash  Flightplan hash
  * @param flightplan_items_count  Flightplan Items Count
- * @param baro_altitude  Baro altitude value
+ * @param baro_altitude  Barometer altitude value
  * @param eph  Standard deviation of horizontal position error, (metres)
  * @param epv  Standard deviation of vertical position error, (metres)
  */
@@ -528,7 +528,7 @@ static inline uint16_t mavlink_msg_cap_status_get_flightplan_items_count(const m
 /**
  * @brief Get field baro_altitude from cap_status message
  *
- * @return  Baro altitude value
+ * @return  Barometer altitude value
  */
 static inline float mavlink_msg_cap_status_get_baro_altitude(const mavlink_message_t* msg)
 {

CAstral/mavlink_msg_cap_status_frequent.h

+#pragma once
+// MESSAGE CAP_STATUS_FREQUENT PACKING
+
+#define MAVLINK_MSG_ID_CAP_STATUS_FREQUENT 185
+
+
+typedef struct __mavlink_cap_status_frequent_t {
+ uint64_t utc_time; /*<  UTC time reported by the GPS.*/
+} mavlink_cap_status_frequent_t;
+
+#define MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN 8
+#define MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_MIN_LEN 8
+#define MAVLINK_MSG_ID_185_LEN 8
+#define MAVLINK_MSG_ID_185_MIN_LEN 8
+
+#define MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_CRC 93
+#define MAVLINK_MSG_ID_185_CRC 93
+
+
+
+#if MAVLINK_COMMAND_24BIT
+#define MAVLINK_MESSAGE_INFO_CAP_STATUS_FREQUENT { \
+    185, \
+    "CAP_STATUS_FREQUENT", \
+    1, \
+    {  { "utc_time", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_cap_status_frequent_t, utc_time) }, \
+         } \
+}
+#else
+#define MAVLINK_MESSAGE_INFO_CAP_STATUS_FREQUENT { \
+    "CAP_STATUS_FREQUENT", \
+    1, \
+    {  { "utc_time", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_cap_status_frequent_t, utc_time) }, \
+         } \
+}
+#endif
+
+/**
+ * @brief Pack a cap_status_frequent 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 utc_time  UTC time reported by the GPS.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_cap_status_frequent_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+                               uint64_t utc_time)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN];
+    _mav_put_uint64_t(buf, 0, utc_time);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN);
+#else
+    mavlink_cap_status_frequent_t packet;
+    packet.utc_time = utc_time;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_CAP_STATUS_FREQUENT;
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_MIN_LEN, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_CRC);
+}
+
+/**
+ * @brief Pack a cap_status_frequent 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 will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param utc_time  UTC time reported by the GPS.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_cap_status_frequent_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+                               mavlink_message_t* msg,
+                                   uint64_t utc_time)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN];
+    _mav_put_uint64_t(buf, 0, utc_time);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN);
+#else
+    mavlink_cap_status_frequent_t packet;
+    packet.utc_time = utc_time;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_CAP_STATUS_FREQUENT;
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_MIN_LEN, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_CRC);
+}
+
+/**
+ * @brief Encode a cap_status_frequent struct
+ *
+ * @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 cap_status_frequent C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_cap_status_frequent_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cap_status_frequent_t* cap_status_frequent)
+{
+    return mavlink_msg_cap_status_frequent_pack(system_id, component_id, msg, cap_status_frequent->utc_time);
+}
+
+/**
+ * @brief Encode a cap_status_frequent struct 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 will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param cap_status_frequent C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_cap_status_frequent_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_cap_status_frequent_t* cap_status_frequent)
+{
+    return mavlink_msg_cap_status_frequent_pack_chan(system_id, component_id, chan, msg, cap_status_frequent->utc_time);
+}
+
+/**
+ * @brief Send a cap_status_frequent message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param utc_time  UTC time reported by the GPS.
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_cap_status_frequent_send(mavlink_channel_t chan, uint64_t utc_time)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN];
+    _mav_put_uint64_t(buf, 0, utc_time);
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT, buf, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_MIN_LEN, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_CRC);
+#else
+    mavlink_cap_status_frequent_t packet;
+    packet.utc_time = utc_time;
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT, (const char *)&packet, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_MIN_LEN, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_CRC);
+#endif
+}
+
+/**
+ * @brief Send a cap_status_frequent message
+ * @param chan MAVLink channel to send the message
+ * @param struct The MAVLink struct to serialize
+ */
+static inline void mavlink_msg_cap_status_frequent_send_struct(mavlink_channel_t chan, const mavlink_cap_status_frequent_t* cap_status_frequent)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    mavlink_msg_cap_status_frequent_send(chan, cap_status_frequent->utc_time);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT, (const char *)cap_status_frequent, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_MIN_LEN, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_CRC);
+#endif
+}
+
+#if MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
+/*
+  This varient of _send() can be used to save stack space by re-using
+  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
+  incoming message with minimum stack space usage.
+ */
+static inline void mavlink_msg_cap_status_frequent_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t utc_time)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char *buf = (char *)msgbuf;
+    _mav_put_uint64_t(buf, 0, utc_time);
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT, buf, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_MIN_LEN, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_CRC);
+#else
+    mavlink_cap_status_frequent_t *packet = (mavlink_cap_status_frequent_t *)msgbuf;
+    packet->utc_time = utc_time;
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT, (const char *)packet, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_MIN_LEN, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_CRC);
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE CAP_STATUS_FREQUENT UNPACKING
+
+
+/**
+ * @brief Get field utc_time from cap_status_frequent message
+ *
+ * @return  UTC time reported by the GPS.
+ */
+static inline uint64_t mavlink_msg_cap_status_frequent_get_utc_time(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint64_t(msg,  0);
+}
+
+/**
+ * @brief Decode a cap_status_frequent message into a struct
+ *
+ * @param msg The message to decode
+ * @param cap_status_frequent C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_cap_status_frequent_decode(const mavlink_message_t* msg, mavlink_cap_status_frequent_t* cap_status_frequent)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    cap_status_frequent->utc_time = mavlink_msg_cap_status_frequent_get_utc_time(msg);
+#else
+        uint8_t len = msg->len < MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN? msg->len : MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN;
+        memset(cap_status_frequent, 0, MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_LEN);
+    memcpy(cap_status_frequent, _MAV_PAYLOAD(msg), len);
+#endif
+}

CAstral/testsuite.h

@@ -7395,6 +7395,60 @@ static void mavlink_test_terrain_elevation(uint8_t system_id, uint8_t component_
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_cap_status_frequent(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
+        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_CAP_STATUS_FREQUENT >= 256) {
+            return;
+        }
+#endif
+    mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+    mavlink_cap_status_frequent_t packet_in = {
+        93372036854775807ULL
+    };
+    mavlink_cap_status_frequent_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        packet1.utc_time = packet_in.utc_time;
+        
+        
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
+           // cope with extensions
+           memset(MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_CAP_STATUS_FREQUENT_MIN_LEN);
+        }
+#endif
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_cap_status_frequent_encode(system_id, component_id, &msg, &packet1);
+    mavlink_msg_cap_status_frequent_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_cap_status_frequent_pack(system_id, component_id, &msg , packet1.utc_time );
+    mavlink_msg_cap_status_frequent_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_cap_status_frequent_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.utc_time );
+    mavlink_msg_cap_status_frequent_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+            comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+    mavlink_msg_cap_status_frequent_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_cap_status_frequent_send(MAVLINK_COMM_1 , packet1.utc_time );
+    mavlink_msg_cap_status_frequent_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_estimator_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
@@ -8663,6 +8717,7 @@ static void mavlink_test_CAstral(uint8_t system_id, uint8_t component_id, mavlin
     mavlink_test_serial_passthrough_ack(system_id, component_id, last_msg);
     mavlink_test_mission_hash(system_id, component_id, last_msg);
     mavlink_test_terrain_elevation(system_id, component_id, last_msg);
+    mavlink_test_cap_status_frequent(system_id, component_id, last_msg);
     mavlink_test_estimator_status(system_id, component_id, last_msg);
     mavlink_test_wind_cov(system_id, component_id, last_msg);
     mavlink_test_gps_input(system_id, component_id, last_msg);

CAstral/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Fri Mar 26 2021"
+#define MAVLINK_BUILD_DATE "Tue Oct 26 2021"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255