added FFI module and moved mavlink package there

src/ffi.rs

+#[derive(Debug, Clone, Default)]
+pub struct MavlinkPayloadFlightTM {
+    // [us] Timestamp in microseconds
+    timestamp: u64,
+    // [Pa] Pressure from digital sensor
+    pressure_digi: f32,
+    // [Pa] Pressure from static port
+    pressure_static: f32,
+    // [m/s] Pitot airspeed
+    airspeed_pitot: f32,
+    // [m] Altitude above ground level
+    altitude_agl: f32,
+    // [m/s^2] Acceleration on X axis (body)
+    acc_x: f32,
+    // [m/s^2] Acceleration on Y axis (body)
+    acc_y: f32,
+    // [m/s^2] Acceleration on Z axis (body)
+    acc_z: f32,
+    // [rad/s] Angular speed on X axis (body)
+    gyro_x: f32,
+    // [rad/s] Angular speed on Y axis (body)
+    gyro_y: f32,
+    // [rad/s] Angular speed on Z axis (body)
+    gyro_z: f32,
+    // [uT] Magnetic field on X axis (body)
+    mag_x: f32,
+    // [uT] Magnetic field on Y axis (body)
+    mag_y: f32,
+    // [uT] Magnetic field on Z axis (body)
+    mag_z: f32,
+    // [deg] Latitude
+    gps_lat: f32,
+    // [deg] Longitude
+    gps_lon: f32,
+    // [m] GPS Altitude
+    gps_alt: f32,
+    // [deg] Left servo motor angle
+    left_servo_angle: f32,
+    // [deg] Right servo motor angle
+    right_servo_angle: f32,
+    // [deg] Navigation system estimated noth position
+    nas_n: f32,
+    // [deg] Navigation system estimated east position
+    nas_e: f32,
+    // [m] Navigation system estimated down position
+    nas_d: f32,
+    // [m/s] Navigation system estimated north velocity
+    nas_vn: f32,
+    // [m/s] Navigation system estimated east velocity
+    nas_ve: f32,
+    // [m/s] Navigation system estimated down velocity
+    nas_vd: f32,
+    // [deg] Navigation system estimated attitude (qx)
+    nas_qx: f32,
+    // [deg] Navigation system estimated attitude (qy)
+    nas_qy: f32,
+    // [deg] Navigation system estimated attitude (qz)
+    nas_qz: f32,
+    // [deg] Navigation system estimated attitude (qw)
+    nas_qw: f32,
+    //  Navigation system gyroscope bias on x axis
+    nas_bias_x: f32,
+    //  Navigation system gyroscope bias on y axis
+    nas_bias_y: f32,
+    //  Navigation system gyroscope bias on z axis
+    nas_bias_z: f32,
+    // [m/s] Wind estimated north velocity
+    wes_n: f32,
+    // [m/s] Wind estimated east velocity
+    wes_e: f32,
+    // [V] Battery voltage
+    vbat: f32,
+    // [V] Power supply 5V
+    vsupply_5v: f32,
+    // [degC] Temperature
+    temperature: f32,
+    //  Flight Mode Manager State
+    fmm_state: u8,
+    //  Navigation System FSM State
+    nas_state: u8,
+    //  Wind Estimation System FSM State
+    wes_state: u8,
+    //  GPS fix (1 = fix, 0 = no fix)
+    gps_fix: u8,
+    //  Nosecone pin status (1 = connected, 0 = disconnected)
+    pin_nosecone: u8,
+    //  Logger error (0 = no error)
+    logger_error: i8,
+}
+
+impl MavlinkPayloadFlightTM {
+    pub fn into_le_bytes(self) -> [u8; 158] {
+        let mut buffer = [0u8; 158];
+        buffer[0..8].copy_from_slice(&self.timestamp.to_le_bytes());
+        buffer[8..12].copy_from_slice(&self.pressure_digi.to_le_bytes());
+        buffer[12..16].copy_from_slice(&self.pressure_static.to_le_bytes());
+        buffer[16..20].copy_from_slice(&self.airspeed_pitot.to_le_bytes());
+        buffer[20..24].copy_from_slice(&self.altitude_agl.to_le_bytes());
+        buffer[24..28].copy_from_slice(&self.acc_x.to_le_bytes());
+        buffer[28..32].copy_from_slice(&self.acc_y.to_le_bytes());
+        buffer[32..36].copy_from_slice(&self.acc_z.to_le_bytes());
+        buffer[36..40].copy_from_slice(&self.gyro_x.to_le_bytes());
+        buffer[40..44].copy_from_slice(&self.gyro_y.to_le_bytes());
+        buffer[44..48].copy_from_slice(&self.gyro_z.to_le_bytes());
+        buffer[48..52].copy_from_slice(&self.mag_x.to_le_bytes());
+        buffer[52..56].copy_from_slice(&self.mag_y.to_le_bytes());
+        buffer[56..60].copy_from_slice(&self.mag_z.to_le_bytes());
+        buffer[60..64].copy_from_slice(&self.gps_lat.to_le_bytes());
+        buffer[64..68].copy_from_slice(&self.gps_lon.to_le_bytes());
+        buffer[68..72].copy_from_slice(&self.gps_alt.to_le_bytes());
+        buffer[72..76].copy_from_slice(&self.left_servo_angle.to_le_bytes());
+        buffer[76..80].copy_from_slice(&self.right_servo_angle.to_le_bytes());
+        buffer[80..84].copy_from_slice(&self.nas_n.to_le_bytes());
+        buffer[84..88].copy_from_slice(&self.nas_e.to_le_bytes());
+        buffer[88..92].copy_from_slice(&self.nas_d.to_le_bytes());
+        buffer[92..96].copy_from_slice(&self.nas_vn.to_le_bytes());
+        buffer[96..100].copy_from_slice(&self.nas_ve.to_le_bytes());
+        buffer[100..104].copy_from_slice(&self.nas_vd.to_le_bytes());
+        buffer[104..108].copy_from_slice(&self.nas_qx.to_le_bytes());
+        buffer[108..112].copy_from_slice(&self.nas_qy.to_le_bytes());
+        buffer[112..116].copy_from_slice(&self.nas_qz.to_le_bytes());
+        buffer[116..120].copy_from_slice(&self.nas_qw.to_le_bytes());
+        buffer[120..124].copy_from_slice(&self.nas_bias_x.to_le_bytes());
+        buffer[124..128].copy_from_slice(&self.nas_bias_y.to_le_bytes());
+        buffer[128..132].copy_from_slice(&self.nas_bias_z.to_le_bytes());
+        buffer[132..136].copy_from_slice(&self.wes_n.to_le_bytes());
+        buffer[136..140].copy_from_slice(&self.wes_e.to_le_bytes());
+        buffer[140..144].copy_from_slice(&self.vbat.to_le_bytes());
+        buffer[144..148].copy_from_slice(&self.vsupply_5v.to_le_bytes());
+        buffer[148..152].copy_from_slice(&self.temperature.to_le_bytes());
+        buffer[152..153].copy_from_slice(&self.fmm_state.to_le_bytes());
+        buffer[153..154].copy_from_slice(&self.nas_state.to_le_bytes());
+        buffer[154..155].copy_from_slice(&self.wes_state.to_le_bytes());
+        buffer[155..156].copy_from_slice(&self.gps_fix.to_le_bytes());
+        buffer[156..157].copy_from_slice(&self.pin_nosecone.to_le_bytes());
+        buffer[157..158].copy_from_slice(&self.logger_error.to_le_bytes());
+        buffer
+    }
+}

src/main.rs

+mod ffi;
+
 use std::io::{Read, Write};
 use std::time::Duration;
 use std::{io, thread};
 
+use ffi::MavlinkPayloadFlightTM;
+
 fn main() {
     // Open the first serialport available.
     let port_name = "/dev/tty.usbmodem143203";
@@ -15,16 +19,11 @@ fn main() {
     // Send out 4 bytes every second
     thread::spawn(move || {
         thread::sleep(Duration::from_millis(2000));
-        let mut mavlink_buffer = [0u8; 158];
-        mavlink_buffer[0..8].copy_from_slice(&1_000_000_000u64.to_le_bytes());
-        for i in 0..36 {
-            mavlink_buffer[8 + i * 4..12 + i * 4].copy_from_slice(&999f32.to_le_bytes());
-        }
-        mavlink_buffer[152..158].fill(100u8);
+        let mav = MavlinkPayloadFlightTM::default();
 
         clone
             // .write_all(&send_buffer)
-            .write_all(&mavlink_buffer)
+            .write_all(&mav.into_le_bytes())
             .expect("Failed to write to serial port");
     });