autogenerated headers for rev...

autogenerated headers for rev https://github.com/mavlink/mavlink/tree/830d16d494ad63f15c8e365ec8f0a02ec0dc8801

ardupilotmega/testsuite.h

@@ -3221,6 +3221,64 @@ static void mavlink_test_adap_tuning(uint8_t system_id, uint8_t component_id, ma
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_vision_position_delta(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_VISION_POSITION_DELTA >= 256) {
+            return;
+        }
+#endif
+    mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+    mavlink_vision_position_delta_t packet_in = {
+        93372036854775807ULL,93372036854776311ULL,{ 129.0, 130.0, 131.0 },{ 213.0, 214.0, 215.0 },297.0
+    };
+    mavlink_vision_position_delta_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        packet1.time_usec = packet_in.time_usec;
+        packet1.time_delta_usec = packet_in.time_delta_usec;
+        packet1.confidence = packet_in.confidence;
+        
+        mav_array_memcpy(packet1.angle_delta, packet_in.angle_delta, sizeof(float)*3);
+        mav_array_memcpy(packet1.position_delta, packet_in.position_delta, sizeof(float)*3);
+        
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
+           // cope with extensions
+           memset(MAVLINK_MSG_ID_VISION_POSITION_DELTA_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_VISION_POSITION_DELTA_MIN_LEN);
+        }
+#endif
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_vision_position_delta_encode(system_id, component_id, &msg, &packet1);
+    mavlink_msg_vision_position_delta_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_vision_position_delta_pack(system_id, component_id, &msg , packet1.time_usec , packet1.time_delta_usec , packet1.angle_delta , packet1.position_delta , packet1.confidence );
+    mavlink_msg_vision_position_delta_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_vision_position_delta_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.time_delta_usec , packet1.angle_delta , packet1.position_delta , packet1.confidence );
+    mavlink_msg_vision_position_delta_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_vision_position_delta_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_vision_position_delta_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.time_delta_usec , packet1.angle_delta , packet1.position_delta , packet1.confidence );
+    mavlink_msg_vision_position_delta_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);
@@ -3277,6 +3335,7 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
     mavlink_test_device_op_write(system_id, component_id, last_msg);
     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);
 }
 
 #ifdef __cplusplus

message_definitions/ardupilotmega.xml

@@ -1374,5 +1374,14 @@
       <field name="f_dot" type="float">projection operator derivative</field>
       <field name="u" type="float">u adaptive controlled output command</field>
     </message>
+    <!-- camera vision based attitude and position delta message -->
+    <message id="11011" name="VISION_POSITION_DELTA">
+      <description>camera vision based attitude and position deltas</description>
+      <field name="time_usec" type="uint64_t">Timestamp (microseconds, synced to UNIX time or since system boot)</field>
+      <field name="time_delta_usec" type="uint64_t">Time in microseconds since the last reported camera frame</field>
+      <field type="float[3]" name="angle_delta">Defines a rotation vector in body frame that rotates the vehicle from the previous to the current orientation</field>
+      <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>
   </messages>
 </mavlink>