autogenerated headers for rev...

autogenerated headers for rev https://github.com/mavlink/mavlink/tree/fa535d330957d108b4000e90ed1ed9b39b92dc38

ASLUAV/ASLUAV.h

@@ -93,7 +93,7 @@ typedef enum MAV_CMD
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is trigerred each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |Camera trigger distance (meters). 0 to stop triggering.| Camera shutter integration time (milliseconds). -1 or 0 to ignore| Trigger camera once immediately. (0 = no trigger, 1 = trigger)| Empty| Empty| Empty| Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable, 2=disable_floor_only)| Empty| Empty| Empty| Empty| Empty| Empty|  */
    MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-   MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |motor sequence number (a number from 1 to max number of motors on the vehicle)| throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| throttle| timeout (in seconds)| Empty| Empty| Empty|  */
+   MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |motor number (a number from 1 to max number of motors on the vehicle)| throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| throttle| timeout (in seconds)| motor count (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...)| motor test order (See MOTOR_TEST_ORDER enum)| Empty|  */
    MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty|  */
    MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change |yaw angle to adjust steering by in centidegress| speed - normalized to 0 .. 1| Empty| Empty| Empty| Empty| Empty|  */
    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time (milliseconds). -1 or 0 to ignore.| Camera shutter integration time (milliseconds). Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty|  */
@@ -102,7 +102,7 @@ typedef enum MAV_CMD
    MAV_CMD_DO_GUIDED_LIMITS=222, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|  */
    MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay (meters). This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| 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. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| 1: radio RC calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration|  */
+   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| 1: radio RC calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration|  */
    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, 5: second magnetometer, 6: third magnetometer| 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_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved|  */
    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, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: start logging with rate of param 3 in Hz (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty|  */

ASLUAV/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Dec 30 2017"
+#define MAVLINK_BUILD_DATE "Sun Jan 14 2018"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

ardupilotmega/mavlink_msg_aoa_ssa.h

+#pragma once
+// MESSAGE AOA_SSA PACKING
+
+#define MAVLINK_MSG_ID_AOA_SSA 11020
+
+MAVPACKED(
+typedef struct __mavlink_aoa_ssa_t {
+ uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
+ float AOA; /*< Angle of Attack (degrees)*/
+ float SSA; /*< Side Slip Angle (degrees)*/
+}) mavlink_aoa_ssa_t;
+
+#define MAVLINK_MSG_ID_AOA_SSA_LEN 16
+#define MAVLINK_MSG_ID_AOA_SSA_MIN_LEN 16
+#define MAVLINK_MSG_ID_11020_LEN 16
+#define MAVLINK_MSG_ID_11020_MIN_LEN 16
+
+#define MAVLINK_MSG_ID_AOA_SSA_CRC 205
+#define MAVLINK_MSG_ID_11020_CRC 205
+
+
+
+#if MAVLINK_COMMAND_24BIT
+#define MAVLINK_MESSAGE_INFO_AOA_SSA { \
+    11020, \
+    "AOA_SSA", \
+    3, \
+    {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_aoa_ssa_t, time_usec) }, \
+         { "AOA", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_aoa_ssa_t, AOA) }, \
+         { "SSA", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_aoa_ssa_t, SSA) }, \
+         } \
+}
+#else
+#define MAVLINK_MESSAGE_INFO_AOA_SSA { \
+    "AOA_SSA", \
+    3, \
+    {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_aoa_ssa_t, time_usec) }, \
+         { "AOA", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_aoa_ssa_t, AOA) }, \
+         { "SSA", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_aoa_ssa_t, SSA) }, \
+         } \
+}
+#endif
+
+/**
+ * @brief Pack a aoa_ssa 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 (micros since boot or Unix epoch)
+ * @param AOA Angle of Attack (degrees)
+ * @param SSA Side Slip Angle (degrees)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_aoa_ssa_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+                               uint64_t time_usec, float AOA, float SSA)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_AOA_SSA_LEN];
+    _mav_put_uint64_t(buf, 0, time_usec);
+    _mav_put_float(buf, 8, AOA);
+    _mav_put_float(buf, 12, SSA);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AOA_SSA_LEN);
+#else
+    mavlink_aoa_ssa_t packet;
+    packet.time_usec = time_usec;
+    packet.AOA = AOA;
+    packet.SSA = SSA;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AOA_SSA_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_AOA_SSA;
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AOA_SSA_MIN_LEN, MAVLINK_MSG_ID_AOA_SSA_LEN, MAVLINK_MSG_ID_AOA_SSA_CRC);
+}
+
+/**
+ * @brief Pack a aoa_ssa 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 time_usec Timestamp (micros since boot or Unix epoch)
+ * @param AOA Angle of Attack (degrees)
+ * @param SSA Side Slip Angle (degrees)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_aoa_ssa_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+                               mavlink_message_t* msg,
+                                   uint64_t time_usec,float AOA,float SSA)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_AOA_SSA_LEN];
+    _mav_put_uint64_t(buf, 0, time_usec);
+    _mav_put_float(buf, 8, AOA);
+    _mav_put_float(buf, 12, SSA);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AOA_SSA_LEN);
+#else
+    mavlink_aoa_ssa_t packet;
+    packet.time_usec = time_usec;
+    packet.AOA = AOA;
+    packet.SSA = SSA;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AOA_SSA_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_AOA_SSA;
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AOA_SSA_MIN_LEN, MAVLINK_MSG_ID_AOA_SSA_LEN, MAVLINK_MSG_ID_AOA_SSA_CRC);
+}
+
+/**
+ * @brief Encode a aoa_ssa 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 aoa_ssa C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_aoa_ssa_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_aoa_ssa_t* aoa_ssa)
+{
+    return mavlink_msg_aoa_ssa_pack(system_id, component_id, msg, aoa_ssa->time_usec, aoa_ssa->AOA, aoa_ssa->SSA);
+}
+
+/**
+ * @brief Encode a aoa_ssa 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 aoa_ssa C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_aoa_ssa_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_aoa_ssa_t* aoa_ssa)
+{
+    return mavlink_msg_aoa_ssa_pack_chan(system_id, component_id, chan, msg, aoa_ssa->time_usec, aoa_ssa->AOA, aoa_ssa->SSA);
+}
+
+/**
+ * @brief Send a aoa_ssa message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_usec Timestamp (micros since boot or Unix epoch)
+ * @param AOA Angle of Attack (degrees)
+ * @param SSA Side Slip Angle (degrees)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_aoa_ssa_send(mavlink_channel_t chan, uint64_t time_usec, float AOA, float SSA)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_AOA_SSA_LEN];
+    _mav_put_uint64_t(buf, 0, time_usec);
+    _mav_put_float(buf, 8, AOA);
+    _mav_put_float(buf, 12, SSA);
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AOA_SSA, buf, MAVLINK_MSG_ID_AOA_SSA_MIN_LEN, MAVLINK_MSG_ID_AOA_SSA_LEN, MAVLINK_MSG_ID_AOA_SSA_CRC);
+#else
+    mavlink_aoa_ssa_t packet;
+    packet.time_usec = time_usec;
+    packet.AOA = AOA;
+    packet.SSA = SSA;
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AOA_SSA, (const char *)&packet, MAVLINK_MSG_ID_AOA_SSA_MIN_LEN, MAVLINK_MSG_ID_AOA_SSA_LEN, MAVLINK_MSG_ID_AOA_SSA_CRC);
+#endif
+}
+
+/**
+ * @brief Send a aoa_ssa message
+ * @param chan MAVLink channel to send the message
+ * @param struct The MAVLink struct to serialize
+ */
+static inline void mavlink_msg_aoa_ssa_send_struct(mavlink_channel_t chan, const mavlink_aoa_ssa_t* aoa_ssa)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    mavlink_msg_aoa_ssa_send(chan, aoa_ssa->time_usec, aoa_ssa->AOA, aoa_ssa->SSA);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AOA_SSA, (const char *)aoa_ssa, MAVLINK_MSG_ID_AOA_SSA_MIN_LEN, MAVLINK_MSG_ID_AOA_SSA_LEN, MAVLINK_MSG_ID_AOA_SSA_CRC);
+#endif
+}
+
+#if MAVLINK_MSG_ID_AOA_SSA_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_aoa_ssa_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, float AOA, float SSA)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char *buf = (char *)msgbuf;
+    _mav_put_uint64_t(buf, 0, time_usec);
+    _mav_put_float(buf, 8, AOA);
+    _mav_put_float(buf, 12, SSA);
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AOA_SSA, buf, MAVLINK_MSG_ID_AOA_SSA_MIN_LEN, MAVLINK_MSG_ID_AOA_SSA_LEN, MAVLINK_MSG_ID_AOA_SSA_CRC);
+#else
+    mavlink_aoa_ssa_t *packet = (mavlink_aoa_ssa_t *)msgbuf;
+    packet->time_usec = time_usec;
+    packet->AOA = AOA;
+    packet->SSA = SSA;
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AOA_SSA, (const char *)packet, MAVLINK_MSG_ID_AOA_SSA_MIN_LEN, MAVLINK_MSG_ID_AOA_SSA_LEN, MAVLINK_MSG_ID_AOA_SSA_CRC);
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE AOA_SSA UNPACKING
+
+
+/**
+ * @brief Get field time_usec from aoa_ssa message
+ *
+ * @return Timestamp (micros since boot or Unix epoch)
+ */
+static inline uint64_t mavlink_msg_aoa_ssa_get_time_usec(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint64_t(msg,  0);
+}
+
+/**
+ * @brief Get field AOA from aoa_ssa message
+ *
+ * @return Angle of Attack (degrees)
+ */
+static inline float mavlink_msg_aoa_ssa_get_AOA(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field SSA from aoa_ssa message
+ *
+ * @return Side Slip Angle (degrees)
+ */
+static inline float mavlink_msg_aoa_ssa_get_SSA(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Decode a aoa_ssa message into a struct
+ *
+ * @param msg The message to decode
+ * @param aoa_ssa C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_aoa_ssa_decode(const mavlink_message_t* msg, mavlink_aoa_ssa_t* aoa_ssa)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    aoa_ssa->time_usec = mavlink_msg_aoa_ssa_get_time_usec(msg);
+    aoa_ssa->AOA = mavlink_msg_aoa_ssa_get_AOA(msg);
+    aoa_ssa->SSA = mavlink_msg_aoa_ssa_get_SSA(msg);
+#else
+        uint8_t len = msg->len < MAVLINK_MSG_ID_AOA_SSA_LEN? msg->len : MAVLINK_MSG_ID_AOA_SSA_LEN;
+        memset(aoa_ssa, 0, MAVLINK_MSG_ID_AOA_SSA_LEN);
+    memcpy(aoa_ssa, _MAV_PAYLOAD(msg), len);
+#endif
+}

ardupilotmega/testsuite.h

@@ -2401,6 +2401,69 @@ static void mavlink_test_pid_tuning(uint8_t system_id, uint8_t component_id, mav
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_deepstall(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_DEEPSTALL >= 256) {
+            return;
+        }
+#endif
+    mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+    mavlink_deepstall_t packet_in = {
+        963497464,963497672,963497880,963498088,963498296,963498504,185.0,213.0,241.0,113
+    };
+    mavlink_deepstall_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        packet1.landing_lat = packet_in.landing_lat;
+        packet1.landing_lon = packet_in.landing_lon;
+        packet1.path_lat = packet_in.path_lat;
+        packet1.path_lon = packet_in.path_lon;
+        packet1.arc_entry_lat = packet_in.arc_entry_lat;
+        packet1.arc_entry_lon = packet_in.arc_entry_lon;
+        packet1.altitude = packet_in.altitude;
+        packet1.expected_travel_distance = packet_in.expected_travel_distance;
+        packet1.cross_track_error = packet_in.cross_track_error;
+        packet1.stage = packet_in.stage;
+        
+        
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
+           // cope with extensions
+           memset(MAVLINK_MSG_ID_DEEPSTALL_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_DEEPSTALL_MIN_LEN);
+        }
+#endif
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_deepstall_encode(system_id, component_id, &msg, &packet1);
+    mavlink_msg_deepstall_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_deepstall_pack(system_id, component_id, &msg , packet1.landing_lat , packet1.landing_lon , packet1.path_lat , packet1.path_lon , packet1.arc_entry_lat , packet1.arc_entry_lon , packet1.altitude , packet1.expected_travel_distance , packet1.cross_track_error , packet1.stage );
+    mavlink_msg_deepstall_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_deepstall_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.landing_lat , packet1.landing_lon , packet1.path_lat , packet1.path_lon , packet1.arc_entry_lat , packet1.arc_entry_lon , packet1.altitude , packet1.expected_travel_distance , packet1.cross_track_error , packet1.stage );
+    mavlink_msg_deepstall_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_deepstall_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_deepstall_send(MAVLINK_COMM_1 , packet1.landing_lat , packet1.landing_lon , packet1.path_lat , packet1.path_lon , packet1.arc_entry_lat , packet1.arc_entry_lon , packet1.altitude , packet1.expected_travel_distance , packet1.cross_track_error , packet1.stage );
+    mavlink_msg_deepstall_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_gimbal_report(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
@@ -3279,6 +3342,62 @@ static void mavlink_test_vision_position_delta(uint8_t system_id, uint8_t compon
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_aoa_ssa(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_AOA_SSA >= 256) {
+            return;
+        }
+#endif
+    mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+    mavlink_aoa_ssa_t packet_in = {
+        93372036854775807ULL,73.0,101.0
+    };
+    mavlink_aoa_ssa_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        packet1.time_usec = packet_in.time_usec;
+        packet1.AOA = packet_in.AOA;
+        packet1.SSA = packet_in.SSA;
+        
+        
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
+           // cope with extensions
+           memset(MAVLINK_MSG_ID_AOA_SSA_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_AOA_SSA_MIN_LEN);
+        }
+#endif
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_aoa_ssa_encode(system_id, component_id, &msg, &packet1);
+    mavlink_msg_aoa_ssa_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_aoa_ssa_pack(system_id, component_id, &msg , packet1.time_usec , packet1.AOA , packet1.SSA );
+    mavlink_msg_aoa_ssa_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_aoa_ssa_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.AOA , packet1.SSA );
+    mavlink_msg_aoa_ssa_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_aoa_ssa_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_aoa_ssa_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.AOA , packet1.SSA );
+    mavlink_msg_aoa_ssa_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
     mavlink_test_sensor_offsets(system_id, component_id, last_msg);
@@ -3321,6 +3440,7 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
     mavlink_test_mag_cal_report(system_id, component_id, last_msg);
     mavlink_test_ekf_status_report(system_id, component_id, last_msg);
     mavlink_test_pid_tuning(system_id, component_id, last_msg);
+    mavlink_test_deepstall(system_id, component_id, last_msg);
     mavlink_test_gimbal_report(system_id, component_id, last_msg);
     mavlink_test_gimbal_control(system_id, component_id, last_msg);
     mavlink_test_gimbal_torque_cmd_report(system_id, component_id, last_msg);
@@ -3336,6 +3456,7 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
     mavlink_test_device_op_write_reply(system_id, component_id, last_msg);
     mavlink_test_adap_tuning(system_id, component_id, last_msg);
     mavlink_test_vision_position_delta(system_id, component_id, last_msg);
+    mavlink_test_aoa_ssa(system_id, component_id, last_msg);
 }
 
 #ifdef __cplusplus

ardupilotmega/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Dec 30 2017"
+#define MAVLINK_BUILD_DATE "Sun Jan 14 2018"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

autoquad/autoquad.h

@@ -137,7 +137,7 @@ typedef enum MAV_CMD
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is trigerred each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |Camera trigger distance (meters). 0 to stop triggering.| Camera shutter integration time (milliseconds). -1 or 0 to ignore| Trigger camera once immediately. (0 = no trigger, 1 = trigger)| Empty| Empty| Empty| Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable, 2=disable_floor_only)| Empty| Empty| Empty| Empty| Empty| Empty|  */
    MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-   MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |motor sequence number (a number from 1 to max number of motors on the vehicle)| throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| throttle| timeout (in seconds)| Empty| Empty| Empty|  */
+   MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |motor number (a number from 1 to max number of motors on the vehicle)| throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| throttle| timeout (in seconds)| motor count (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...)| motor test order (See MOTOR_TEST_ORDER enum)| Empty|  */
    MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty|  */
    MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change |yaw angle to adjust steering by in centidegress| speed - normalized to 0 .. 1| Empty| Empty| Empty| Empty| Empty|  */
    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time (milliseconds). -1 or 0 to ignore.| Camera shutter integration time (milliseconds). Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty|  */
@@ -146,7 +146,7 @@ typedef enum MAV_CMD
    MAV_CMD_DO_GUIDED_LIMITS=222, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|  */
    MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay (meters). This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| 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. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| 1: radio RC calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration|  */
+   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| 1: radio RC calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration|  */
    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, 5: second magnetometer, 6: third magnetometer| 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_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved|  */
    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, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: start logging with rate of param 3 in Hz (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty|  */

autoquad/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Dec 30 2017"
+#define MAVLINK_BUILD_DATE "Sun Jan 14 2018"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

common/common.h

@@ -96,7 +96,8 @@ typedef enum MAV_TYPE
    MAV_TYPE_GIMBAL=26, /* Onboard gimbal | */
    MAV_TYPE_ADSB=27, /* Onboard ADSB peripheral | */
    MAV_TYPE_PARAFOIL=28, /* Steerable, nonrigid airfoil | */
-   MAV_TYPE_ENUM_END=29, /*  | */
+   MAV_TYPE_DODECAROTOR=29, /* Dodecarotor | */
+   MAV_TYPE_ENUM_END=30, /*  | */
 } MAV_TYPE;
 #endif
 
@@ -446,7 +447,7 @@ typedef enum MAV_CMD
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is trigerred each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |Camera trigger distance (meters). 0 to stop triggering.| Camera shutter integration time (milliseconds). -1 or 0 to ignore| Trigger camera once immediately. (0 = no trigger, 1 = trigger)| Empty| Empty| Empty| Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable, 2=disable_floor_only)| Empty| Empty| Empty| Empty| Empty| Empty|  */
    MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-   MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |motor sequence number (a number from 1 to max number of motors on the vehicle)| throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| throttle| timeout (in seconds)| Empty| Empty| Empty|  */
+   MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |motor number (a number from 1 to max number of motors on the vehicle)| throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| throttle| timeout (in seconds)| motor count (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...)| motor test order (See MOTOR_TEST_ORDER enum)| Empty|  */
    MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty|  */
    MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change |yaw angle to adjust steering by in centidegress| speed - normalized to 0 .. 1| Empty| Empty| Empty| Empty| Empty|  */
    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time (milliseconds). -1 or 0 to ignore.| Camera shutter integration time (milliseconds). Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty|  */
@@ -455,7 +456,7 @@ typedef enum MAV_CMD
    MAV_CMD_DO_GUIDED_LIMITS=222, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|  */
    MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay (meters). This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| 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. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| 1: radio RC calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration|  */
+   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| 1: radio RC calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration|  */
    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, 5: second magnetometer, 6: third magnetometer| 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_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved|  */
    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, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: start logging with rate of param 3 in Hz (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty|  */
@@ -981,6 +982,18 @@ typedef enum ESTIMATOR_STATUS_FLAGS
 } ESTIMATOR_STATUS_FLAGS;
 #endif
 
+/** @brief  */
+#ifndef HAVE_ENUM_MOTOR_TEST_ORDER
+#define HAVE_ENUM_MOTOR_TEST_ORDER
+typedef enum MOTOR_TEST_ORDER
+{
+   MOTOR_TEST_ORDER_DEFAULT=0, /* default autopilot motor test method | */
+   MOTOR_TEST_ORDER_SEQUENCE=1, /* motor numbers are specified as their index in a predefined vehicle-specific sequence | */
+   MOTOR_TEST_ORDER_BOARD=2, /* motor numbers are specified as the output as labeled on the board | */
+   MOTOR_TEST_ORDER_ENUM_END=3, /*  | */
+} MOTOR_TEST_ORDER;
+#endif
+
 /** @brief  */
 #ifndef HAVE_ENUM_MOTOR_TEST_THROTTLE_TYPE
 #define HAVE_ENUM_MOTOR_TEST_THROTTLE_TYPE
@@ -989,7 +1002,8 @@ typedef enum MOTOR_TEST_THROTTLE_TYPE
    MOTOR_TEST_THROTTLE_PERCENT=0, /* throttle as a percentage from 0 ~ 100 | */
    MOTOR_TEST_THROTTLE_PWM=1, /* throttle as an absolute PWM value (normally in range of 1000~2000) | */
    MOTOR_TEST_THROTTLE_PILOT=2, /* throttle pass-through from pilot's transmitter | */
-   MOTOR_TEST_THROTTLE_TYPE_ENUM_END=3, /*  | */
+   MOTOR_TEST_COMPASS_CAL=3, /* per-motor compass calibration test | */
+   MOTOR_TEST_THROTTLE_TYPE_ENUM_END=4, /*  | */
 } MOTOR_TEST_THROTTLE_TYPE;
 #endif
 
@@ -1149,6 +1163,17 @@ typedef enum MAV_ARM_AUTH_DENIED_REASON
 } MAV_ARM_AUTH_DENIED_REASON;
 #endif
 
+/** @brief RTK GPS baseline coordinate system, used for RTK corrections */
+#ifndef HAVE_ENUM_RTK_BASELINE_COORDINATE_SYSTEM
+#define HAVE_ENUM_RTK_BASELINE_COORDINATE_SYSTEM
+typedef enum RTK_BASELINE_COORDINATE_SYSTEM
+{
+   RTK_BASELINE_COORDINATE_SYSTEM_ECEF=0, /* Earth-centered, Earth-fixed | */
+   RTK_BASELINE_COORDINATE_SYSTEM_NED=1, /* North, East, Down | */
+   RTK_BASELINE_COORDINATE_SYSTEM_ENUM_END=2, /*  | */
+} RTK_BASELINE_COORDINATE_SYSTEM;
+#endif
+
 // MAVLINK VERSION
 
 #ifndef MAVLINK_VERSION

common/mavlink_msg_gps2_rtk.h

@@ -17,7 +17,7 @@ typedef struct __mavlink_gps2_rtk_t {
  uint8_t rtk_health; /*< GPS-specific health report for RTK data.*/
  uint8_t rtk_rate; /*< Rate of baseline messages being received by GPS, in HZ*/
  uint8_t nsats; /*< Current number of sats used for RTK calculation.*/
- uint8_t baseline_coords_type; /*< Coordinate system of baseline. 0 == ECEF, 1 == NED*/
+ uint8_t baseline_coords_type; /*< Coordinate system of baseline*/
 }) mavlink_gps2_rtk_t;
 
 #define MAVLINK_MSG_ID_GPS2_RTK_LEN 35
@@ -84,7 +84,7 @@ typedef struct __mavlink_gps2_rtk_t {
  * @param rtk_health GPS-specific health report for RTK data.
  * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
  * @param nsats Current number of sats used for RTK calculation.
- * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED
+ * @param baseline_coords_type Coordinate system of baseline
  * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
  * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
  * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
@@ -148,7 +148,7 @@ static inline uint16_t mavlink_msg_gps2_rtk_pack(uint8_t system_id, uint8_t comp
  * @param rtk_health GPS-specific health report for RTK data.
  * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
  * @param nsats Current number of sats used for RTK calculation.
- * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED
+ * @param baseline_coords_type Coordinate system of baseline
  * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
  * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
  * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
@@ -238,7 +238,7 @@ static inline uint16_t mavlink_msg_gps2_rtk_encode_chan(uint8_t system_id, uint8
  * @param rtk_health GPS-specific health report for RTK data.
  * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
  * @param nsats Current number of sats used for RTK calculation.
- * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED
+ * @param baseline_coords_type Coordinate system of baseline
  * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
  * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
  * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
@@ -426,7 +426,7 @@ static inline uint8_t mavlink_msg_gps2_rtk_get_nsats(const mavlink_message_t* ms
 /**
  * @brief Get field baseline_coords_type from gps2_rtk message
  *
- * @return Coordinate system of baseline. 0 == ECEF, 1 == NED
+ * @return Coordinate system of baseline
  */
 static inline uint8_t mavlink_msg_gps2_rtk_get_baseline_coords_type(const mavlink_message_t* msg)
 {

common/mavlink_msg_gps_rtk.h

@@ -17,7 +17,7 @@ typedef struct __mavlink_gps_rtk_t {
  uint8_t rtk_health; /*< GPS-specific health report for RTK data.*/
  uint8_t rtk_rate; /*< Rate of baseline messages being received by GPS, in HZ*/
  uint8_t nsats; /*< Current number of sats used for RTK calculation.*/
- uint8_t baseline_coords_type; /*< Coordinate system of baseline. 0 == ECEF, 1 == NED*/
+ uint8_t baseline_coords_type; /*< Coordinate system of baseline*/
 }) mavlink_gps_rtk_t;
 
 #define MAVLINK_MSG_ID_GPS_RTK_LEN 35
@@ -84,7 +84,7 @@ typedef struct __mavlink_gps_rtk_t {
  * @param rtk_health GPS-specific health report for RTK data.
  * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
  * @param nsats Current number of sats used for RTK calculation.
- * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED
+ * @param baseline_coords_type Coordinate system of baseline
  * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
  * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
  * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
@@ -148,7 +148,7 @@ static inline uint16_t mavlink_msg_gps_rtk_pack(uint8_t system_id, uint8_t compo
  * @param rtk_health GPS-specific health report for RTK data.
  * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
  * @param nsats Current number of sats used for RTK calculation.
- * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED
+ * @param baseline_coords_type Coordinate system of baseline
  * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
  * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
  * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
@@ -238,7 +238,7 @@ static inline uint16_t mavlink_msg_gps_rtk_encode_chan(uint8_t system_id, uint8_
  * @param rtk_health GPS-specific health report for RTK data.
  * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
  * @param nsats Current number of sats used for RTK calculation.
- * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED
+ * @param baseline_coords_type Coordinate system of baseline
  * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
  * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
  * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
@@ -426,7 +426,7 @@ static inline uint8_t mavlink_msg_gps_rtk_get_nsats(const mavlink_message_t* msg
 /**
  * @brief Get field baseline_coords_type from gps_rtk message
  *
- * @return Coordinate system of baseline. 0 == ECEF, 1 == NED
+ * @return Coordinate system of baseline
  */
 static inline uint8_t mavlink_msg_gps_rtk_get_baseline_coords_type(const mavlink_message_t* msg)
 {

common/mavlink_msg_hil_state.h

@@ -12,8 +12,8 @@ typedef struct __mavlink_hil_state_t {
  float rollspeed; /*< Body frame roll / phi angular speed (rad/s)*/
  float pitchspeed; /*< Body frame pitch / theta angular speed (rad/s)*/
  float yawspeed; /*< Body frame yaw / psi angular speed (rad/s)*/
- int32_t lat; /*< Latitude, expressed as * 1E7*/
- int32_t lon; /*< Longitude, expressed as * 1E7*/
+ int32_t lat; /*< Latitude, expressed as degrees * 1E7*/
+ int32_t lon; /*< Longitude, expressed as degrees * 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*/
@@ -93,8 +93,8 @@ typedef struct __mavlink_hil_state_t {
  * @param rollspeed Body frame roll / phi angular speed (rad/s)
  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
+ * @param lat Latitude, expressed as degrees * 1E7
+ * @param lon Longitude, expressed as degrees * 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
@@ -166,8 +166,8 @@ static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t com
  * @param rollspeed Body frame roll / phi angular speed (rad/s)
  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
+ * @param lat Latitude, expressed as degrees * 1E7
+ * @param lon Longitude, expressed as degrees * 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
@@ -265,8 +265,8 @@ static inline uint16_t mavlink_msg_hil_state_encode_chan(uint8_t system_id, uint
  * @param rollspeed Body frame roll / phi angular speed (rad/s)
  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
+ * @param lat Latitude, expressed as degrees * 1E7
+ * @param lon Longitude, expressed as degrees * 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
@@ -468,7 +468,7 @@ static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t*
 /**
  * @brief Get field lat from hil_state message
  *
- * @return Latitude, expressed as * 1E7
+ * @return Latitude, expressed as degrees * 1E7
  */
 static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg)
 {
@@ -478,7 +478,7 @@ static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg
 /**
  * @brief Get field lon from hil_state message
  *
- * @return Longitude, expressed as * 1E7
+ * @return Longitude, expressed as degrees * 1E7
  */
 static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg)
 {

common/mavlink_msg_hil_state_quaternion.h

@@ -10,8 +10,8 @@ typedef struct __mavlink_hil_state_quaternion_t {
  float rollspeed; /*< Body frame roll / phi angular speed (rad/s)*/
  float pitchspeed; /*< Body frame pitch / theta angular speed (rad/s)*/
  float yawspeed; /*< Body frame yaw / psi angular speed (rad/s)*/
- int32_t lat; /*< Latitude, expressed as * 1E7*/
- int32_t lon; /*< Longitude, expressed as * 1E7*/
+ int32_t lat; /*< Latitude, expressed as degrees * 1E7*/
+ int32_t lon; /*< Longitude, expressed as degrees * 1E7*/
  int32_t alt; /*< Altitude in meters, expressed as * 1000 (millimeters)*/
  int16_t vx; /*< Ground X Speed (Latitude), expressed as cm/s*/
  int16_t vy; /*< Ground Y Speed (Longitude), expressed as cm/s*/
@@ -91,8 +91,8 @@ typedef struct __mavlink_hil_state_quaternion_t {
  * @param rollspeed Body frame roll / phi angular speed (rad/s)
  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
+ * @param lat Latitude, expressed as degrees * 1E7
+ * @param lon Longitude, expressed as degrees * 1E7
  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
  * @param vx Ground X Speed (Latitude), expressed as cm/s
  * @param vy Ground Y Speed (Longitude), expressed as cm/s
@@ -162,8 +162,8 @@ static inline uint16_t mavlink_msg_hil_state_quaternion_pack(uint8_t system_id,
  * @param rollspeed Body frame roll / phi angular speed (rad/s)
  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
+ * @param lat Latitude, expressed as degrees * 1E7
+ * @param lon Longitude, expressed as degrees * 1E7
  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
  * @param vx Ground X Speed (Latitude), expressed as cm/s
  * @param vy Ground Y Speed (Longitude), expressed as cm/s
@@ -259,8 +259,8 @@ static inline uint16_t mavlink_msg_hil_state_quaternion_encode_chan(uint8_t syst
  * @param rollspeed Body frame roll / phi angular speed (rad/s)
  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
+ * @param lat Latitude, expressed as degrees * 1E7
+ * @param lon Longitude, expressed as degrees * 1E7
  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
  * @param vx Ground X Speed (Latitude), expressed as cm/s
  * @param vy Ground Y Speed (Longitude), expressed as cm/s
@@ -440,7 +440,7 @@ static inline float mavlink_msg_hil_state_quaternion_get_yawspeed(const mavlink_
 /**
  * @brief Get field lat from hil_state_quaternion message
  *
- * @return Latitude, expressed as * 1E7
+ * @return Latitude, expressed as degrees * 1E7
  */
 static inline int32_t mavlink_msg_hil_state_quaternion_get_lat(const mavlink_message_t* msg)
 {
@@ -450,7 +450,7 @@ static inline int32_t mavlink_msg_hil_state_quaternion_get_lat(const mavlink_mes
 /**
  * @brief Get field lon from hil_state_quaternion message
  *
- * @return Longitude, expressed as * 1E7
+ * @return Longitude, expressed as degrees * 1E7
  */
 static inline int32_t mavlink_msg_hil_state_quaternion_get_lon(const mavlink_message_t* msg)
 {

common/mavlink_msg_position_target_global_int.h

@@ -6,8 +6,8 @@
 MAVPACKED(
 typedef struct __mavlink_position_target_global_int_t {
  uint32_t time_boot_ms; /*< Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.*/
- int32_t lat_int; /*< X Position in WGS84 frame in 1e7 * meters*/
- int32_t lon_int; /*< Y Position in WGS84 frame in 1e7 * meters*/
+ int32_t lat_int; /*< X Position in WGS84 frame in 1e7 * degrees*/
+ int32_t lon_int; /*< Y Position in WGS84 frame in 1e7 * degrees*/
  float alt; /*< Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT*/
  float vx; /*< X velocity in NED frame in meter / s*/
  float vy; /*< Y velocity in NED frame in meter / s*/
@@ -83,8 +83,8 @@ typedef struct __mavlink_position_target_global_int_t {
  * @param time_boot_ms Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
  * @param coordinate_frame Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
  * @param type_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
- * @param lat_int X Position in WGS84 frame in 1e7 * meters
- * @param lon_int Y Position in WGS84 frame in 1e7 * meters
+ * @param lat_int X Position in WGS84 frame in 1e7 * degrees
+ * @param lon_int Y Position in WGS84 frame in 1e7 * degrees
  * @param alt Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
  * @param vx X velocity in NED frame in meter / s
  * @param vy Y velocity in NED frame in meter / s
@@ -150,8 +150,8 @@ static inline uint16_t mavlink_msg_position_target_global_int_pack(uint8_t syste
  * @param time_boot_ms Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
  * @param coordinate_frame Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
  * @param type_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
- * @param lat_int X Position in WGS84 frame in 1e7 * meters
- * @param lon_int Y Position in WGS84 frame in 1e7 * meters
+ * @param lat_int X Position in WGS84 frame in 1e7 * degrees
+ * @param lon_int Y Position in WGS84 frame in 1e7 * degrees
  * @param alt Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
  * @param vx X velocity in NED frame in meter / s
  * @param vy Y velocity in NED frame in meter / s
@@ -243,8 +243,8 @@ static inline uint16_t mavlink_msg_position_target_global_int_encode_chan(uint8_
  * @param time_boot_ms Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
  * @param coordinate_frame Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
  * @param type_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
- * @param lat_int X Position in WGS84 frame in 1e7 * meters
- * @param lon_int Y Position in WGS84 frame in 1e7 * meters
+ * @param lat_int X Position in WGS84 frame in 1e7 * degrees
+ * @param lon_int Y Position in WGS84 frame in 1e7 * degrees
  * @param alt Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
  * @param vx X velocity in NED frame in meter / s
  * @param vy Y velocity in NED frame in meter / s
@@ -400,7 +400,7 @@ static inline uint16_t mavlink_msg_position_target_global_int_get_type_mask(cons
 /**
  * @brief Get field lat_int from position_target_global_int message
  *
- * @return X Position in WGS84 frame in 1e7 * meters
+ * @return X Position in WGS84 frame in 1e7 * degrees
  */
 static inline int32_t mavlink_msg_position_target_global_int_get_lat_int(const mavlink_message_t* msg)
 {
@@ -410,7 +410,7 @@ static inline int32_t mavlink_msg_position_target_global_int_get_lat_int(const m
 /**
  * @brief Get field lon_int from position_target_global_int message
  *
- * @return Y Position in WGS84 frame in 1e7 * meters
+ * @return Y Position in WGS84 frame in 1e7 * degrees
  */
 static inline int32_t mavlink_msg_position_target_global_int_get_lon_int(const mavlink_message_t* msg)
 {

common/mavlink_msg_set_attitude_target.h

@@ -8,8 +8,8 @@ typedef struct __mavlink_set_attitude_target_t {
  uint32_t time_boot_ms; /*< Timestamp in milliseconds since system boot*/
  float q[4]; /*< Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)*/
  float body_roll_rate; /*< Body roll rate in radians per second*/
- float body_pitch_rate; /*< Body roll rate in radians per second*/
- float body_yaw_rate; /*< Body roll rate in radians per second*/
+ float body_pitch_rate; /*< Body pitch rate in radians per second*/
+ float body_yaw_rate; /*< Body yaw rate in radians per second*/
  float thrust; /*< Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)*/
  uint8_t target_system; /*< System ID*/
  uint8_t target_component; /*< Component ID*/
@@ -71,8 +71,8 @@ typedef struct __mavlink_set_attitude_target_t {
  * @param type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude
  * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
  * @param body_roll_rate Body roll rate in radians per second
- * @param body_pitch_rate Body roll rate in radians per second
- * @param body_yaw_rate Body roll rate in radians per second
+ * @param body_pitch_rate Body pitch rate in radians per second
+ * @param body_yaw_rate Body yaw rate in radians per second
  * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -121,8 +121,8 @@ static inline uint16_t mavlink_msg_set_attitude_target_pack(uint8_t system_id, u
  * @param type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude
  * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
  * @param body_roll_rate Body roll rate in radians per second
- * @param body_pitch_rate Body roll rate in radians per second
- * @param body_yaw_rate Body roll rate in radians per second
+ * @param body_pitch_rate Body pitch rate in radians per second
+ * @param body_yaw_rate Body yaw rate in radians per second
  * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -197,8 +197,8 @@ static inline uint16_t mavlink_msg_set_attitude_target_encode_chan(uint8_t syste
  * @param type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude
  * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
  * @param body_roll_rate Body roll rate in radians per second
- * @param body_pitch_rate Body roll rate in radians per second
- * @param body_yaw_rate Body roll rate in radians per second
+ * @param body_pitch_rate Body pitch rate in radians per second
+ * @param body_yaw_rate Body yaw rate in radians per second
  * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
@@ -352,7 +352,7 @@ static inline float mavlink_msg_set_attitude_target_get_body_roll_rate(const mav
 /**
  * @brief Get field body_pitch_rate from set_attitude_target message
  *
- * @return Body roll rate in radians per second
+ * @return Body pitch rate in radians per second
  */
 static inline float mavlink_msg_set_attitude_target_get_body_pitch_rate(const mavlink_message_t* msg)
 {
@@ -362,7 +362,7 @@ static inline float mavlink_msg_set_attitude_target_get_body_pitch_rate(const ma
 /**
  * @brief Get field body_yaw_rate from set_attitude_target message
  *
- * @return Body roll rate in radians per second
+ * @return Body yaw rate in radians per second
  */
 static inline float mavlink_msg_set_attitude_target_get_body_yaw_rate(const mavlink_message_t* msg)
 {

common/mavlink_msg_set_gps_global_origin.h

@@ -6,7 +6,7 @@
 MAVPACKED(
 typedef struct __mavlink_set_gps_global_origin_t {
  int32_t latitude; /*< Latitude (WGS84), in degrees * 1E7*/
- int32_t longitude; /*< Longitude (WGS84, in degrees * 1E7*/
+ int32_t longitude; /*< Longitude (WGS84), in degrees * 1E7*/
  int32_t altitude; /*< Altitude (AMSL), in meters * 1000 (positive for up)*/
  uint8_t target_system; /*< System ID*/
  uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
@@ -55,7 +55,7 @@ typedef struct __mavlink_set_gps_global_origin_t {
  *
  * @param target_system System ID
  * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84, in degrees * 1E7
+ * @param longitude Longitude (WGS84), in degrees * 1E7
  * @param altitude Altitude (AMSL), in meters * 1000 (positive for up)
  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -95,7 +95,7 @@ static inline uint16_t mavlink_msg_set_gps_global_origin_pack(uint8_t system_id,
  * @param msg The MAVLink message to compress the data into
  * @param target_system System ID
  * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84, in degrees * 1E7
+ * @param longitude Longitude (WGS84), in degrees * 1E7
  * @param altitude Altitude (AMSL), in meters * 1000 (positive for up)
  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -161,7 +161,7 @@ static inline uint16_t mavlink_msg_set_gps_global_origin_encode_chan(uint8_t sys
  *
  * @param target_system System ID
  * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84, in degrees * 1E7
+ * @param longitude Longitude (WGS84), in degrees * 1E7
  * @param altitude Altitude (AMSL), in meters * 1000 (positive for up)
  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  */
@@ -264,7 +264,7 @@ static inline int32_t mavlink_msg_set_gps_global_origin_get_latitude(const mavli
 /**
  * @brief Get field longitude from set_gps_global_origin message
  *
- * @return Longitude (WGS84, in degrees * 1E7
+ * @return Longitude (WGS84), in degrees * 1E7
  */
 static inline int32_t mavlink_msg_set_gps_global_origin_get_longitude(const mavlink_message_t* msg)
 {

common/mavlink_msg_set_position_target_global_int.h

@@ -6,8 +6,8 @@
 MAVPACKED(
 typedef struct __mavlink_set_position_target_global_int_t {
  uint32_t time_boot_ms; /*< Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.*/
- int32_t lat_int; /*< X Position in WGS84 frame in 1e7 * meters*/
- int32_t lon_int; /*< Y Position in WGS84 frame in 1e7 * meters*/
+ int32_t lat_int; /*< X Position in WGS84 frame in 1e7 * degrees*/
+ int32_t lon_int; /*< Y Position in WGS84 frame in 1e7 * degrees*/
  float alt; /*< Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT*/
  float vx; /*< X velocity in NED frame in meter / s*/
  float vy; /*< Y velocity in NED frame in meter / s*/
@@ -91,8 +91,8 @@ typedef struct __mavlink_set_position_target_global_int_t {
  * @param target_component Component ID
  * @param coordinate_frame Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
  * @param type_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
- * @param lat_int X Position in WGS84 frame in 1e7 * meters
- * @param lon_int Y Position in WGS84 frame in 1e7 * meters
+ * @param lat_int X Position in WGS84 frame in 1e7 * degrees
+ * @param lon_int Y Position in WGS84 frame in 1e7 * degrees
  * @param alt Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
  * @param vx X velocity in NED frame in meter / s
  * @param vy Y velocity in NED frame in meter / s
@@ -164,8 +164,8 @@ static inline uint16_t mavlink_msg_set_position_target_global_int_pack(uint8_t s
  * @param target_component Component ID
  * @param coordinate_frame Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
  * @param type_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
- * @param lat_int X Position in WGS84 frame in 1e7 * meters
- * @param lon_int Y Position in WGS84 frame in 1e7 * meters
+ * @param lat_int X Position in WGS84 frame in 1e7 * degrees
+ * @param lon_int Y Position in WGS84 frame in 1e7 * degrees
  * @param alt Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
  * @param vx X velocity in NED frame in meter / s
  * @param vy Y velocity in NED frame in meter / s
@@ -263,8 +263,8 @@ static inline uint16_t mavlink_msg_set_position_target_global_int_encode_chan(ui
  * @param target_component Component ID
  * @param coordinate_frame Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
  * @param type_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
- * @param lat_int X Position in WGS84 frame in 1e7 * meters
- * @param lon_int Y Position in WGS84 frame in 1e7 * meters
+ * @param lat_int X Position in WGS84 frame in 1e7 * degrees
+ * @param lon_int Y Position in WGS84 frame in 1e7 * degrees
  * @param alt Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
  * @param vx X velocity in NED frame in meter / s
  * @param vy Y velocity in NED frame in meter / s
@@ -448,7 +448,7 @@ static inline uint16_t mavlink_msg_set_position_target_global_int_get_type_mask(
 /**
  * @brief Get field lat_int from set_position_target_global_int message
  *
- * @return X Position in WGS84 frame in 1e7 * meters
+ * @return X Position in WGS84 frame in 1e7 * degrees
  */
 static inline int32_t mavlink_msg_set_position_target_global_int_get_lat_int(const mavlink_message_t* msg)
 {
@@ -458,7 +458,7 @@ static inline int32_t mavlink_msg_set_position_target_global_int_get_lat_int(con
 /**
  * @brief Get field lon_int from set_position_target_global_int message
  *
- * @return Y Position in WGS84 frame in 1e7 * meters
+ * @return Y Position in WGS84 frame in 1e7 * degrees
  */
 static inline int32_t mavlink_msg_set_position_target_global_int_get_lon_int(const mavlink_message_t* msg)
 {

common/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Dec 30 2017"
+#define MAVLINK_BUILD_DATE "Sun Jan 14 2018"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

matrixpilot/matrixpilot.h

@@ -110,7 +110,7 @@ typedef enum MAV_CMD
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is trigerred each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |Camera trigger distance (meters). 0 to stop triggering.| Camera shutter integration time (milliseconds). -1 or 0 to ignore| Trigger camera once immediately. (0 = no trigger, 1 = trigger)| Empty| Empty| Empty| Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable, 2=disable_floor_only)| Empty| Empty| Empty| Empty| Empty| Empty|  */
    MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-   MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |motor sequence number (a number from 1 to max number of motors on the vehicle)| throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| throttle| timeout (in seconds)| Empty| Empty| Empty|  */
+   MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |motor number (a number from 1 to max number of motors on the vehicle)| throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| throttle| timeout (in seconds)| motor count (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...)| motor test order (See MOTOR_TEST_ORDER enum)| Empty|  */
    MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty|  */
    MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change |yaw angle to adjust steering by in centidegress| speed - normalized to 0 .. 1| Empty| Empty| Empty| Empty| Empty|  */
    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time (milliseconds). -1 or 0 to ignore.| Camera shutter integration time (milliseconds). Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty|  */
@@ -119,7 +119,7 @@ typedef enum MAV_CMD
    MAV_CMD_DO_GUIDED_LIMITS=222, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|  */
    MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay (meters). This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| 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. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| 1: radio RC calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration|  */
+   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| 1: radio RC calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration|  */
    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, 5: second magnetometer, 6: third magnetometer| 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_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved|  */
    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, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: start logging with rate of param 3 in Hz (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty|  */

matrixpilot/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Dec 30 2017"
+#define MAVLINK_BUILD_DATE "Sun Jan 14 2018"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

message_definitions/ardupilotmega.xml

@@ -13,6 +13,8 @@
       <entry value="4" name="ACCELCAL_VEHICLE_POS_NOSEDOWN"/>
       <entry value="5" name="ACCELCAL_VEHICLE_POS_NOSEUP"/>
       <entry value="6" name="ACCELCAL_VEHICLE_POS_BACK"/>
+      <entry value="16777215" name="ACCELCAL_VEHICLE_POS_SUCCESS"/>
+      <entry value="16777216" name="ACCELCAL_VEHICLE_POS_FAILED"/>
     </enum>
     <!-- ardupilot specific MAV_CMD_* commands -->
     <enum name="MAV_CMD">
@@ -87,6 +89,27 @@
         <param index="6">Empty</param>
         <param index="7">Empty</param>
       </entry>
+      <entry value="42004" name="MAV_CMD_FIXED_MAG_CAL">
+        <description>Magnetometer calibration based on fixed position
+        in earth field given by inclination, declination and intensity</description>
+        <param index="1">MagDeclinationDegrees</param>
+        <param index="2">MagInclinationDegrees</param>
+        <param index="3">MagIntensityMilliGauss</param>
+        <param index="4">YawDegrees</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="42005" name="MAV_CMD_FIXED_MAG_CAL_FIELD">
+        <description>Magnetometer calibration based on fixed expected field values in milliGauss</description>
+        <param index="1">FieldX</param>
+        <param index="2">FieldY</param>
+        <param index="3">FieldZ</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
       <entry value="42424" name="MAV_CMD_DO_START_MAG_CAL">
         <description>Initiate a magnetometer calibration</description>
         <param index="1">uint8_t bitmask of magnetometers (0 means all)</param>
@@ -137,9 +160,9 @@
         <param index="6">Empty</param>
         <param index="7">Empty</param>
       </entry>
-      <entry value="42501" name="MAV_CMD_GIMBAL_RESET">
-        <description>Causes the gimbal to reset and boot as if it was just powered on</description>
-        <param index="1">Empty</param>
+      <entry value="42427" name="MAV_CMD_SET_FACTORY_TEST_MODE">
+        <description>Command autopilot to get into factory test/diagnostic mode</description>
+        <param index="1">0 means get out of test mode, 1 means get into test mode</param>
         <param index="2">Empty</param>
         <param index="3">Empty</param>
         <param index="4">Empty</param>
@@ -147,9 +170,9 @@
         <param index="6">Empty</param>
         <param index="7">Empty</param>
       </entry>
-      <entry value="42427" name="MAV_CMD_SET_FACTORY_TEST_MODE">
-        <description>Command autopilot to get into factory test/diagnostic mode</description>
-        <param index="1">0 means get out of test mode, 1 means get into test mode</param>
+      <entry value="42501" name="MAV_CMD_GIMBAL_RESET">
+        <description>Causes the gimbal to reset and boot as if it was just powered on</description>
+        <param index="1">Empty</param>
         <param index="2">Empty</param>
         <param index="3">Empty</param>
         <param index="4">Empty</param>
@@ -187,6 +210,16 @@
         <param index="6">Magic number</param>
         <param index="7">Magic number</param>
       </entry>
+      <entry value="42600" name="MAV_CMD_DO_WINCH">
+        <description>Command to operate winch</description>
+        <param index="1">winch number (0 for the default winch, otherwise a number from 1 to max number of winches on the vehicle)</param>
+        <param index="2">action (0=relax, 1=relative length control, 2=rate control.  See WINCH_ACTIONS enum)</param>
+        <param index="3">release length (cable distance to unwind in meters, negative numbers to wind in cable)</param>
+        <param index="4">release rate (meters/second)</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
     </enum>
     <!-- AP_Limits Enums -->
     <enum name="LIMITS_STATE">
@@ -253,6 +286,19 @@
         <description>gripper grabs onto cargo</description>
       </entry>
     </enum>
+    <!-- winch action enum -->
+    <enum name="WINCH_ACTIONS">
+      <description>Winch actions</description>
+      <entry value="0" name="WINCH_RELAXED">
+        <description>relax winch</description>
+      </entry>
+      <entry value="1" name="WINCH_RELATIVE_LENGTH_CONTROL">
+        <description>winch unwinds or winds specified length of cable optionally using specified rate</description>
+      </entry>
+      <entry value="2" name="WINCH_RATE_CONTROL">
+        <description>winch unwinds or winds cable at specified rate in meters/seconds</description>
+      </entry>
+    </enum>
     <!-- Camera event types -->
     <enum name="CAMERA_STATUS_TYPES">
       <entry value="0" name="CAMERA_STATUS_TYPE_HEARTBEAT">
@@ -848,6 +894,30 @@
         <description>SPI Device operation</description>
       </entry>
     </enum>
+    <enum name="DEEPSTALL_STAGE">
+      <description>Deepstall flight stage</description>
+      <entry value="0" name="DEEPSTALL_STAGE_FLY_TO_LANDING">
+        <description>Flying to the landing point</description>
+      </entry>
+      <entry value="1" name="DEEPSTALL_STAGE_ESTIMATE_WIND">
+        <description>Building an estimate of the wind</description>
+      </entry>
+      <entry value="2" name="DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT">
+        <description>Waiting to breakout of the loiter to fly the approach</description>
+      </entry>
+      <entry value="3" name="DEEPSTALL_STAGE_FLY_TO_ARC">
+        <description>Flying to the first arc point to turn around to the landing point</description>
+      </entry>
+      <entry value="4" name="DEEPSTALL_STAGE_ARC">
+        <description>Turning around back to the deepstall landing point</description>
+      </entry>
+      <entry value="5" name="DEEPSTALL_STAGE_APPROACH">
+        <description>Approaching the landing point</description>
+      </entry>
+      <entry value="6" name="DEEPSTALL_STAGE_LAND">
+        <description>Stalling and steering towards the land point</description>
+      </entry>
+    </enum>
   </enums>
   <messages>
     <message id="150" name="SENSOR_OFFSETS">
@@ -1160,7 +1230,7 @@
       <field type="float" name="roll" units="rad">Roll angle (rad)</field>
       <field type="float" name="pitch" units="rad">Pitch angle (rad)</field>
       <field type="float" name="yaw" units="rad">Yaw angle (rad)</field>
-      <field type="float" name="altitude">Altitude (MSL)</field>
+      <field type="float" name="altitude" units="m">Altitude (MSL)</field>
       <field type="int32_t" name="lat" units="degE7">Latitude in degrees * 1E7</field>
       <field type="int32_t" name="lng" units="degE7">Longitude in degrees * 1E7</field>
       <field type="float" name="v1">test variable1</field>
@@ -1249,6 +1319,19 @@
       <field type="float" name="I">I component</field>
       <field type="float" name="D">D component</field>
     </message>
+    <message id="195" name="DEEPSTALL">
+      <description>Deepstall path planning</description>
+      <field type="int32_t" name="landing_lat" units="degE7">Landing latitude (deg * 1E7)</field>
+      <field type="int32_t" name="landing_lon" units="degE7">Landing longitude (deg * 1E7)</field>
+      <field type="int32_t" name="path_lat" units="degE7">Final heading start point, latitude (deg * 1E7)</field>
+      <field type="int32_t" name="path_lon" units="degE7">Final heading start point, longitude (deg * 1E7)</field>
+      <field type="int32_t" name="arc_entry_lat" units="degE7">Arc entry point, latitude (deg * 1E7)</field>
+      <field type="int32_t" name="arc_entry_lon" units="degE7">Arc entry point, longitude (deg * 1E7)</field>
+      <field type="float" name="altitude" units="m">Altitude (meters)</field>
+      <field type="float" name="expected_travel_distance" units="m">Distance the aircraft expects to travel during the deepstall</field>
+      <field type="float" name="cross_track_error" units="m">Deepstall cross track error in meters (only valid when in DEEPSTALL_STAGE_LAND)</field>
+      <field type="uint8_t" name="stage" enum="DEEPSTALL_STAGE">Deepstall stage, see enum MAV_DEEPSTALL_STAGE</field>
+    </message>
     <message id="200" name="GIMBAL_REPORT">
       <description>3 axis gimbal mesuraments</description>
       <field type="uint8_t" name="target_system">System ID</field>
@@ -1383,5 +1466,12 @@
       <field type="float[3]" name="position_delta">Change in position in meters from previous to current frame rotated into body frame (0=forward, 1=right, 2=down)</field>
       <field type="float" name="confidence">normalised confidence value from 0 to 100</field>
     </message>
+    <!-- Angle of Attack and Side Slip Angle message -->
+    <message id="11020" name="AOA_SSA">
+      <description>Angle of Attack and Side Slip Angle</description>
+      <field type="uint64_t" name="time_usec">Timestamp (micros since boot or Unix epoch)</field>
+      <field name="AOA" type="float">Angle of Attack (degrees)</field>
+      <field name="SSA" type="float">Side Slip Angle (degrees)</field>
+    </message>
   </messages>
 </mavlink>

minimal/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Dec 30 2017"
+#define MAVLINK_BUILD_DATE "Sun Jan 14 2018"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 9
  

slugs/slugs.h

@@ -93,7 +93,7 @@ typedef enum MAV_CMD
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is trigerred each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |Camera trigger distance (meters). 0 to stop triggering.| Camera shutter integration time (milliseconds). -1 or 0 to ignore| Trigger camera once immediately. (0 = no trigger, 1 = trigger)| Empty| Empty| Empty| Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable, 2=disable_floor_only)| Empty| Empty| Empty| Empty| Empty| Empty|  */
    MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-   MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |motor sequence number (a number from 1 to max number of motors on the vehicle)| throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| throttle| timeout (in seconds)| Empty| Empty| Empty|  */
+   MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |motor number (a number from 1 to max number of motors on the vehicle)| throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| throttle| timeout (in seconds)| motor count (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...)| motor test order (See MOTOR_TEST_ORDER enum)| Empty|  */
    MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty|  */
    MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change |yaw angle to adjust steering by in centidegress| speed - normalized to 0 .. 1| Empty| Empty| Empty| Empty| Empty|  */
    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time (milliseconds). -1 or 0 to ignore.| Camera shutter integration time (milliseconds). Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty|  */
@@ -102,7 +102,7 @@ typedef enum MAV_CMD
    MAV_CMD_DO_GUIDED_LIMITS=222, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|  */
    MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay (meters). This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| 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. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| 1: radio RC calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration|  */
+   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| 1: radio RC calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration|  */
    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, 5: second magnetometer, 6: third magnetometer| 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_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved|  */
    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, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: start logging with rate of param 3 in Hz (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty|  */

slugs/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Dec 30 2017"
+#define MAVLINK_BUILD_DATE "Sun Jan 14 2018"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

standard/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Dec 30 2017"
+#define MAVLINK_BUILD_DATE "Sun Jan 14 2018"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

test/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Dec 30 2017"
+#define MAVLINK_BUILD_DATE "Sun Jan 14 2018"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
  

uAvionix/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Dec 30 2017"
+#define MAVLINK_BUILD_DATE "Sun Jan 14 2018"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255