autogenerated headers for rev...

autogenerated headers for rev https://github.com/mavlink/mavlink/tree/2e7281d157145ff63339e621fb818120e63bc22d

ardupilotmega/testsuite.h

@@ -14,18 +14,21 @@ extern "C" {
 #define MAVLINK_TEST_ALL
 static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
 static void mavlink_test_uAvionix(uint8_t, uint8_t, mavlink_message_t *last_msg);
+static void mavlink_test_icarous(uint8_t, uint8_t, mavlink_message_t *last_msg);
 static void mavlink_test_ardupilotmega(uint8_t, uint8_t, mavlink_message_t *last_msg);
 
 static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
     mavlink_test_common(system_id, component_id, last_msg);
     mavlink_test_uAvionix(system_id, component_id, last_msg);
+    mavlink_test_icarous(system_id, component_id, last_msg);
     mavlink_test_ardupilotmega(system_id, component_id, last_msg);
 }
 #endif
 
 #include "../common/testsuite.h"
 #include "../uAvionix/testsuite.h"
+#include "../icarous/testsuite.h"
 
 
 static void mavlink_test_sensor_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)

icarous/icarous.h

+/** @file
+ *  @brief MAVLink comm protocol generated from icarous.xml
+ *  @see http://mavlink.org
+ */
+#pragma once
+#ifndef MAVLINK_ICAROUS_H
+#define MAVLINK_ICAROUS_H
+
+#ifndef MAVLINK_H
+    #error Wrong include order: MAVLINK_ICAROUS.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call.
+#endif
+
+#undef MAVLINK_THIS_XML_IDX
+#define MAVLINK_THIS_XML_IDX 3
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// MESSAGE LENGTHS AND CRCS
+
+#ifndef MAVLINK_MESSAGE_LENGTHS
+#define MAVLINK_MESSAGE_LENGTHS {}
+#endif
+
+#ifndef MAVLINK_MESSAGE_CRCS
+#define MAVLINK_MESSAGE_CRCS {{42000, 227, 1, 0, 0, 0}, {42001, 239, 46, 0, 0, 0}}
+#endif
+
+#include "../protocol.h"
+
+#define MAVLINK_ENABLED_ICAROUS
+
+// ENUM DEFINITIONS
+
+
+/** @brief  */
+#ifndef HAVE_ENUM_ICAROUS_TRACK_BAND_TYPES
+#define HAVE_ENUM_ICAROUS_TRACK_BAND_TYPES
+typedef enum ICAROUS_TRACK_BAND_TYPES
+{
+   ICAROUS_TRACK_BAND_TYPE_NONE=0, /*  | */
+   ICAROUS_TRACK_BAND_TYPE_NEAR=1, /*  | */
+   ICAROUS_TRACK_BAND_TYPE_RECOVERY=2, /*  | */
+   ICAROUS_TRACK_BAND_TYPES_ENUM_END=3, /*  | */
+} ICAROUS_TRACK_BAND_TYPES;
+#endif
+
+/** @brief  */
+#ifndef HAVE_ENUM_ICAROUS_FMS_STATE
+#define HAVE_ENUM_ICAROUS_FMS_STATE
+typedef enum ICAROUS_FMS_STATE
+{
+   ICAROUS_FMS_STATE_IDLE=0, /*  | */
+   ICAROUS_FMS_STATE_TAKEOFF=1, /*  | */
+   ICAROUS_FMS_STATE_CLIMB=2, /*  | */
+   ICAROUS_FMS_STATE_CRUISE=3, /*  | */
+   ICAROUS_FMS_STATE_APPROACH=4, /*  | */
+   ICAROUS_FMS_STATE_LAND=5, /*  | */
+   ICAROUS_FMS_STATE_ENUM_END=6, /*  | */
+} ICAROUS_FMS_STATE;
+#endif
+
+// MAVLINK VERSION
+
+#ifndef MAVLINK_VERSION
+#define MAVLINK_VERSION 2
+#endif
+
+#if (MAVLINK_VERSION == 0)
+#undef MAVLINK_VERSION
+#define MAVLINK_VERSION 2
+#endif
+
+// MESSAGE DEFINITIONS
+#include "./mavlink_msg_icarous_heartbeat.h"
+#include "./mavlink_msg_icarous_kinematic_bands.h"
+
+// base include
+
+
+#undef MAVLINK_THIS_XML_IDX
+#define MAVLINK_THIS_XML_IDX 3
+
+#if MAVLINK_THIS_XML_IDX == MAVLINK_PRIMARY_XML_IDX
+# define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_ICAROUS_HEARTBEAT, MAVLINK_MESSAGE_INFO_ICAROUS_KINEMATIC_BANDS}
+# define MAVLINK_MESSAGE_NAMES {{ "ICAROUS_HEARTBEAT", 42000 }, { "ICAROUS_KINEMATIC_BANDS", 42001 }}
+# if MAVLINK_COMMAND_24BIT
+#  include "../mavlink_get_info.h"
+# endif
+#endif
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+#endif // MAVLINK_ICAROUS_H

icarous/mavlink.h

+/** @file
+ *  @brief MAVLink comm protocol built from icarous.xml
+ *  @see http://mavlink.org
+ */
+#pragma once
+#ifndef MAVLINK_H
+#define MAVLINK_H
+
+#define MAVLINK_PRIMARY_XML_IDX 3
+
+#ifndef MAVLINK_STX
+#define MAVLINK_STX 253
+#endif
+
+#ifndef MAVLINK_ENDIAN
+#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
+#endif
+
+#ifndef MAVLINK_ALIGNED_FIELDS
+#define MAVLINK_ALIGNED_FIELDS 1
+#endif
+
+#ifndef MAVLINK_CRC_EXTRA
+#define MAVLINK_CRC_EXTRA 1
+#endif
+
+#ifndef MAVLINK_COMMAND_24BIT
+#define MAVLINK_COMMAND_24BIT 1
+#endif
+
+#include "version.h"
+#include "icarous.h"
+
+#endif // MAVLINK_H

icarous/mavlink_msg_icarous_heartbeat.h

+#pragma once
+// MESSAGE ICAROUS_HEARTBEAT PACKING
+
+#define MAVLINK_MSG_ID_ICAROUS_HEARTBEAT 42000
+
+MAVPACKED(
+typedef struct __mavlink_icarous_heartbeat_t {
+ uint8_t status; /*< See the FMS_STATE enum.*/
+}) mavlink_icarous_heartbeat_t;
+
+#define MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN 1
+#define MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_MIN_LEN 1
+#define MAVLINK_MSG_ID_42000_LEN 1
+#define MAVLINK_MSG_ID_42000_MIN_LEN 1
+
+#define MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_CRC 227
+#define MAVLINK_MSG_ID_42000_CRC 227
+
+
+
+#if MAVLINK_COMMAND_24BIT
+#define MAVLINK_MESSAGE_INFO_ICAROUS_HEARTBEAT { \
+    42000, \
+    "ICAROUS_HEARTBEAT", \
+    1, \
+    {  { "status", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_icarous_heartbeat_t, status) }, \
+         } \
+}
+#else
+#define MAVLINK_MESSAGE_INFO_ICAROUS_HEARTBEAT { \
+    "ICAROUS_HEARTBEAT", \
+    1, \
+    {  { "status", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_icarous_heartbeat_t, status) }, \
+         } \
+}
+#endif
+
+/**
+ * @brief Pack a icarous_heartbeat message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param status See the FMS_STATE enum.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_icarous_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+                               uint8_t status)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN];
+    _mav_put_uint8_t(buf, 0, status);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN);
+#else
+    mavlink_icarous_heartbeat_t packet;
+    packet.status = status;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_ICAROUS_HEARTBEAT;
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_CRC);
+}
+
+/**
+ * @brief Pack a icarous_heartbeat message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param status See the FMS_STATE enum.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_icarous_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+                               mavlink_message_t* msg,
+                                   uint8_t status)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN];
+    _mav_put_uint8_t(buf, 0, status);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN);
+#else
+    mavlink_icarous_heartbeat_t packet;
+    packet.status = status;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_ICAROUS_HEARTBEAT;
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_CRC);
+}
+
+/**
+ * @brief Encode a icarous_heartbeat 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 icarous_heartbeat C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_icarous_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_icarous_heartbeat_t* icarous_heartbeat)
+{
+    return mavlink_msg_icarous_heartbeat_pack(system_id, component_id, msg, icarous_heartbeat->status);
+}
+
+/**
+ * @brief Encode a icarous_heartbeat 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 icarous_heartbeat C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_icarous_heartbeat_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_icarous_heartbeat_t* icarous_heartbeat)
+{
+    return mavlink_msg_icarous_heartbeat_pack_chan(system_id, component_id, chan, msg, icarous_heartbeat->status);
+}
+
+/**
+ * @brief Send a icarous_heartbeat message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param status See the FMS_STATE enum.
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_icarous_heartbeat_send(mavlink_channel_t chan, uint8_t status)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN];
+    _mav_put_uint8_t(buf, 0, status);
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT, buf, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_CRC);
+#else
+    mavlink_icarous_heartbeat_t packet;
+    packet.status = status;
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT, (const char *)&packet, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_CRC);
+#endif
+}
+
+/**
+ * @brief Send a icarous_heartbeat message
+ * @param chan MAVLink channel to send the message
+ * @param struct The MAVLink struct to serialize
+ */
+static inline void mavlink_msg_icarous_heartbeat_send_struct(mavlink_channel_t chan, const mavlink_icarous_heartbeat_t* icarous_heartbeat)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    mavlink_msg_icarous_heartbeat_send(chan, icarous_heartbeat->status);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT, (const char *)icarous_heartbeat, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_CRC);
+#endif
+}
+
+#if MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_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_icarous_heartbeat_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t status)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char *buf = (char *)msgbuf;
+    _mav_put_uint8_t(buf, 0, status);
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT, buf, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_CRC);
+#else
+    mavlink_icarous_heartbeat_t *packet = (mavlink_icarous_heartbeat_t *)msgbuf;
+    packet->status = status;
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT, (const char *)packet, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_CRC);
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE ICAROUS_HEARTBEAT UNPACKING
+
+
+/**
+ * @brief Get field status from icarous_heartbeat message
+ *
+ * @return See the FMS_STATE enum.
+ */
+static inline uint8_t mavlink_msg_icarous_heartbeat_get_status(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint8_t(msg,  0);
+}
+
+/**
+ * @brief Decode a icarous_heartbeat message into a struct
+ *
+ * @param msg The message to decode
+ * @param icarous_heartbeat C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_icarous_heartbeat_decode(const mavlink_message_t* msg, mavlink_icarous_heartbeat_t* icarous_heartbeat)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    icarous_heartbeat->status = mavlink_msg_icarous_heartbeat_get_status(msg);
+#else
+        uint8_t len = msg->len < MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN? msg->len : MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN;
+        memset(icarous_heartbeat, 0, MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_LEN);
+    memcpy(icarous_heartbeat, _MAV_PAYLOAD(msg), len);
+#endif
+}

icarous/testsuite.h

+/** @file
+ *    @brief MAVLink comm protocol testsuite generated from icarous.xml
+ *    @see http://qgroundcontrol.org/mavlink/
+ */
+#pragma once
+#ifndef ICAROUS_TESTSUITE_H
+#define ICAROUS_TESTSUITE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef MAVLINK_TEST_ALL
+#define MAVLINK_TEST_ALL
+
+static void mavlink_test_icarous(uint8_t, uint8_t, mavlink_message_t *last_msg);
+
+static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+
+    mavlink_test_icarous(system_id, component_id, last_msg);
+}
+#endif
+
+
+
+
+static void mavlink_test_icarous_heartbeat(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_ICAROUS_HEARTBEAT >= 256) {
+            return;
+        }
+#endif
+    mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+    mavlink_icarous_heartbeat_t packet_in = {
+        5
+    };
+    mavlink_icarous_heartbeat_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        packet1.status = packet_in.status;
+        
+        
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
+           // cope with extensions
+           memset(MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_ICAROUS_HEARTBEAT_MIN_LEN);
+        }
+#endif
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_icarous_heartbeat_encode(system_id, component_id, &msg, &packet1);
+    mavlink_msg_icarous_heartbeat_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_icarous_heartbeat_pack(system_id, component_id, &msg , packet1.status );
+    mavlink_msg_icarous_heartbeat_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_icarous_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.status );
+    mavlink_msg_icarous_heartbeat_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_icarous_heartbeat_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_icarous_heartbeat_send(MAVLINK_COMM_1 , packet1.status );
+    mavlink_msg_icarous_heartbeat_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_icarous_kinematic_bands(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_ICAROUS_KINEMATIC_BANDS >= 256) {
+            return;
+        }
+#endif
+    mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+    mavlink_icarous_kinematic_bands_t packet_in = {
+        17.0,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,125,192,3,70,137,204
+    };
+    mavlink_icarous_kinematic_bands_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        packet1.min1 = packet_in.min1;
+        packet1.max1 = packet_in.max1;
+        packet1.min2 = packet_in.min2;
+        packet1.max2 = packet_in.max2;
+        packet1.min3 = packet_in.min3;
+        packet1.max3 = packet_in.max3;
+        packet1.min4 = packet_in.min4;
+        packet1.max4 = packet_in.max4;
+        packet1.min5 = packet_in.min5;
+        packet1.max5 = packet_in.max5;
+        packet1.numBands = packet_in.numBands;
+        packet1.type1 = packet_in.type1;
+        packet1.type2 = packet_in.type2;
+        packet1.type3 = packet_in.type3;
+        packet1.type4 = packet_in.type4;
+        packet1.type5 = packet_in.type5;
+        
+        
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
+           // cope with extensions
+           memset(MAVLINK_MSG_ID_ICAROUS_KINEMATIC_BANDS_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_ICAROUS_KINEMATIC_BANDS_MIN_LEN);
+        }
+#endif
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_icarous_kinematic_bands_encode(system_id, component_id, &msg, &packet1);
+    mavlink_msg_icarous_kinematic_bands_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_icarous_kinematic_bands_pack(system_id, component_id, &msg , packet1.numBands , packet1.type1 , packet1.min1 , packet1.max1 , packet1.type2 , packet1.min2 , packet1.max2 , packet1.type3 , packet1.min3 , packet1.max3 , packet1.type4 , packet1.min4 , packet1.max4 , packet1.type5 , packet1.min5 , packet1.max5 );
+    mavlink_msg_icarous_kinematic_bands_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_icarous_kinematic_bands_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.numBands , packet1.type1 , packet1.min1 , packet1.max1 , packet1.type2 , packet1.min2 , packet1.max2 , packet1.type3 , packet1.min3 , packet1.max3 , packet1.type4 , packet1.min4 , packet1.max4 , packet1.type5 , packet1.min5 , packet1.max5 );
+    mavlink_msg_icarous_kinematic_bands_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_icarous_kinematic_bands_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_icarous_kinematic_bands_send(MAVLINK_COMM_1 , packet1.numBands , packet1.type1 , packet1.min1 , packet1.max1 , packet1.type2 , packet1.min2 , packet1.max2 , packet1.type3 , packet1.min3 , packet1.max3 , packet1.type4 , packet1.min4 , packet1.max4 , packet1.type5 , packet1.min5 , packet1.max5 );
+    mavlink_msg_icarous_kinematic_bands_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_icarous(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+    mavlink_test_icarous_heartbeat(system_id, component_id, last_msg);
+    mavlink_test_icarous_kinematic_bands(system_id, component_id, last_msg);
+}
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+#endif // ICAROUS_TESTSUITE_H

icarous/version.h

+/** @file
+ *  @brief MAVLink comm protocol built from icarous.xml
+ *  @see http://mavlink.org
+ */
+#pragma once
+ 
+#ifndef MAVLINK_VERSION_H
+#define MAVLINK_VERSION_H
+
+#define MAVLINK_BUILD_DATE "Thu Feb 08 2018"
+#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
+ 
+#endif // MAVLINK_VERSION_H

mavlink_helpers.h

@@ -678,7 +678,11 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
 		rxmsg->msgid = c;
 		mavlink_update_checksum(rxmsg, c);
                 if (status->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) {
-                    status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID3;
+                    if(rxmsg->len > 0){
+                        status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID3;
+                    } else {
+                        status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
+                    }
 #ifdef MAVLINK_CHECK_MESSAGE_LENGTH
                     if (rxmsg->len != MAVLINK_MESSAGE_LENGTH(rxmsg->msgid))
                     {
@@ -699,9 +703,13 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
 		break;
 
 	case MAVLINK_PARSE_STATE_GOT_MSGID2:
-		rxmsg->msgid |= c<<16;
+		rxmsg->msgid |= ((uint32_t)c)<<16;
 		mavlink_update_checksum(rxmsg, c);
-		status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID3;
+		if(rxmsg->len > 0){
+			status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID3;
+		} else {
+			status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
+		}
 #ifdef MAVLINK_CHECK_MESSAGE_LENGTH
 	        if (rxmsg->len != MAVLINK_MESSAGE_LENGTH(rxmsg->msgid))
 		{

mavlink_sha256.h

@@ -51,7 +51,7 @@ namespace mavlink {
 #endif
 
 typedef struct {
-  unsigned int sz[2];
+  uint32_t sz[2];
   uint32_t counter[8];
   union {
       unsigned char save_bytes[64];

message_definitions/ardupilotmega.xml

@@ -3,6 +3,7 @@
   <include>common.xml</include>
   <!-- vendors -->
   <include>uAvionix.xml</include>
+  <include>icarous.xml</include>
   <dialect>2</dialect>
   <!-- note that APM specific messages should use the command id range from 150 to 250, to leave plenty of room for growth of common.xml If you prototype a message here, then you should consider if it is general enough to move into common.xml later -->
   <enums>
@@ -918,6 +919,84 @@
         <description>Stalling and steering towards the land point</description>
       </entry>
     </enum>
+    <enum name="PLANE_MODE">
+      <description>A mapping of plane flight modes for custom_mode field of heartbeat</description>
+      <entry value="0" name="PLANE_MODE_MANUAL"/>
+      <entry value="1" name="PLANE_MODE_CIRCLE"/>
+      <entry value="2" name="PLANE_MODE_STABILIZE"/>
+      <entry value="3" name="PLANE_MODE_TRAINING"/>
+      <entry value="4" name="PLANE_MODE_ACRO"/>
+      <entry value="5" name="PLANE_MODE_FLY_BY_WIRE_A"/>
+      <entry value="6" name="PLANE_MODE_FLY_BY_WIRE_B"/>
+      <entry value="7" name="PLANE_MODE_CRUISE"/>
+      <entry value="8" name="PLANE_MODE_AUTOTUNE"/>
+      <entry value="10" name="PLANE_MODE_AUTO"/>
+      <entry value="11" name="PLANE_MODE_RTL"/>
+      <entry value="12" name="PLANE_MODE_LOITER"/>
+      <entry value="14" name="PLANE_MODE_AVOID_ADSB"/>
+      <entry value="15" name="PLANE_MODE_GUIDED"/>
+      <entry value="16" name="PLANE_MODE_INITIALIZING"/>
+      <entry value="17" name="PLANE_MODE_QSTABILIZE"/>
+      <entry value="18" name="PLANE_MODE_QHOVER"/>
+      <entry value="19" name="PLANE_MODE_QLOITER"/>
+      <entry value="20" name="PLANE_MODE_QLAND"/>
+      <entry value="21" name="PLANE_MODE_QRTL"/>
+    </enum>
+    <enum name="COPTER_MODE">
+      <description>A mapping of copter flight modes for custom_mode field of heartbeat</description>
+      <entry value="0" name="COPTER_MODE_STABILIZE"/>
+      <entry value="1" name="COPTER_MODE_ACRO"/>
+      <entry value="2" name="COPTER_MODE_ALT_HOLD"/>
+      <entry value="3" name="COPTER_MODE_AUTO"/>
+      <entry value="4" name="COPTER_MODE_GUIDED"/>
+      <entry value="5" name="COPTER_MODE_LOITER"/>
+      <entry value="6" name="COPTER_MODE_RTL"/>
+      <entry value="7" name="COPTER_MODE_CIRCLE"/>
+      <entry value="9" name="COPTER_MODE_LAND"/>
+      <entry value="11" name="COPTER_MODE_DRIFT"/>
+      <entry value="13" name="COPTER_MODE_SPORT"/>
+      <entry value="14" name="COPTER_MODE_FLIP"/>
+      <entry value="15" name="COPTER_MODE_AUTOTUNE"/>
+      <entry value="16" name="COPTER_MODE_POSHOLD"/>
+      <entry value="17" name="COPTER_MODE_BRAKE"/>
+      <entry value="18" name="COPTER_MODE_THROW"/>
+      <entry value="19" name="COPTER_MODE_AVOID_ADSB"/>
+      <entry value="20" name="COPTER_MODE_GUIDED_NOGPS"/>
+      <entry value="21" name="COPTER_MODE_SMART_RTL"/>
+    </enum>
+    <enum name="SUB_MODE">
+      <description>A mapping of sub flight modes for custom_mode field of heartbeat</description>
+      <entry value="0" name="SUB_MODE_STABILIZE"/>
+      <entry value="1" name="SUB_MODE_ACRO"/>
+      <entry value="2" name="SUB_MODE_ALT_HOLD"/>
+      <entry value="3" name="SUB_MODE_AUTO"/>
+      <entry value="4" name="SUB_MODE_GUIDED"/>
+      <entry value="7" name="SUB_MODE_CIRCLE"/>
+      <entry value="9" name="SUB_MODE_SURFACE"/>
+      <entry value="16" name="SUB_MODE_POSHOLD"/>
+      <entry value="19" name="SUB_MODE_MANUAL"/>
+    </enum>
+    <enum name="ROVER_MODE">
+      <description>A mapping of rover flight modes for custom_mode field of heartbeat</description>
+      <entry value="0" name="ROVER_MODE_MANUAL"/>
+      <entry value="1" name="ROVER_MODE_ACRO"/>
+      <entry value="3" name="ROVER_MODE_STEERING"/>
+      <entry value="4" name="ROVER_MODE_HOLD"/>
+      <entry value="10" name="ROVER_MODE_AUTO"/>
+      <entry value="11" name="ROVER_MODE_RTL"/>
+      <entry value="12" name="ROVER_MODE_SMART_RTL"/>
+      <entry value="15" name="ROVER_MODE_GUIDED"/>
+      <entry value="16" name="ROVER_MODE_INITIALIZING"/>
+    </enum>
+    <enum name="TRACKER_MODE">
+      <description>A mapping of antenna tracker flight modes for custom_mode field of heartbeat</description>
+      <entry value="0" name="TRACKER_MODE_MANUAL"/>
+      <entry value="1" name="TRACKER_MODE_STOP"/>
+      <entry value="2" name="TRACKER_MODE_SCAN"/>
+      <entry value="3" name="TRACKER_MODE_SERVO_TEST"/>
+      <entry value="10" name="TRACKER_MODE_AUTO"/>
+      <entry value="16" name="TRACKER_MODE_INITIALIZING"/>
+    </enum>
   </enums>
   <messages>
     <message id="150" name="SENSOR_OFFSETS">
@@ -1460,18 +1539,18 @@
     <!-- 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 name="time_usec" type="uint64_t" units="us">Timestamp (microseconds, synced to UNIX time or since system boot)</field>
+      <field name="time_delta_usec" type="uint64_t" units="us">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>
+      <field type="float[3]" name="position_delta" units="m">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" units="%">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>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (micros since boot or Unix epoch)</field>
+      <field name="AOA" type="float" units="deg">Angle of Attack (degrees)</field>
+      <field name="SSA" type="float" units="deg">Side Slip Angle (degrees)</field>
     </message>
   </messages>
 </mavlink>

message_definitions/icarous.xml

+<?xml version="1.0"?>
+<mavlink>
+  <!-- ICAROUS message definitions                                     -->
+  <!-- https://github.com/nasa/icarous                                 -->
+  <!-- email contacts: Swee Balachandran: swee.balachandran@nianet.org -->
+  <!--                 Cesar Munoz: cesar.a.munoz@nasa.gov             -->
+  <!-- mavlink ID range 42000 - 42099                                  -->
+  <enums>
+    <enum name="ICAROUS_TRACK_BAND_TYPES">
+      <entry name="ICAROUS_TRACK_BAND_TYPE_NONE" value="0"/>
+      <entry name="ICAROUS_TRACK_BAND_TYPE_NEAR" value="1"/>
+      <entry name="ICAROUS_TRACK_BAND_TYPE_RECOVERY" value="2"/>
+    </enum>
+    <enum name="ICAROUS_FMS_STATE">
+      <entry name="ICAROUS_FMS_STATE_IDLE" value="0"/>
+      <entry name="ICAROUS_FMS_STATE_TAKEOFF" value="1"/>
+      <entry name="ICAROUS_FMS_STATE_CLIMB" value="2"/>
+      <entry name="ICAROUS_FMS_STATE_CRUISE" value="3"/>
+      <entry name="ICAROUS_FMS_STATE_APPROACH" value="4"/>
+      <entry name="ICAROUS_FMS_STATE_LAND" value="5"/>
+    </enum>
+  </enums>
+  <messages>
+    <message id="42000" name="ICAROUS_HEARTBEAT">
+      <description>ICAROUS heartbeat</description>
+      <field type="uint8_t" name="status" enum="ICAROUS_FMS_STATE">See the FMS_STATE enum.</field>
+    </message>
+    <message id="42001" name="ICAROUS_KINEMATIC_BANDS">
+      <description>Kinematic multi bands (track) output from Daidalus</description>
+      <field type="int8_t" name="numBands">Number of track bands</field>
+      <field type="uint8_t" name="type1" enum="ICAROUS_TRACK_BAND_TYPES">See the TRACK_BAND_TYPES enum.</field>
+      <field type="float" name="min1" units="deg">min angle (degrees)</field>
+      <field type="float" name="max1" units="deg">max angle (degrees)</field>
+      <field type="uint8_t" name="type2" enum="ICAROUS_TRACK_BAND_TYPES">See the TRACK_BAND_TYPES enum.</field>
+      <field type="float" name="min2" units="deg">min angle (degrees)</field>
+      <field type="float" name="max2" units="deg">max angle (degrees)</field>
+      <field type="uint8_t" name="type3" enum="ICAROUS_TRACK_BAND_TYPES">See the TRACK_BAND_TYPES enum.</field>
+      <field type="float" name="min3" units="deg">min angle (degrees)</field>
+      <field type="float" name="max3" units="deg">max angle (degrees)</field>
+      <field type="uint8_t" name="type4" enum="ICAROUS_TRACK_BAND_TYPES">See the TRACK_BAND_TYPES enum.</field>
+      <field type="float" name="min4" units="deg">min angle (degrees)</field>
+      <field type="float" name="max4" units="deg">max angle (degrees)</field>
+      <field type="uint8_t" name="type5" enum="ICAROUS_TRACK_BAND_TYPES">See the TRACK_BAND_TYPES enum.</field>
+      <field type="float" name="min5" units="deg">min angle (degrees)</field>
+      <field type="float" name="max5" units="deg">max angle (degrees)</field>
+    </message>
+  </messages>
+</mavlink>