diff --git a/mavlink_lib.py b/mavlink_lib.py
index 342cb87d49fc3fc61996686a768a36e2eb228f19..a884aec26ddde6d78105db11a4a5bce7dea654dc 100644
--- a/mavlink_lib.py
+++ b/mavlink_lib.py
@@ -1805,23 +1805,23 @@ class MAVLink_arp_tm_message(MAVLink_message):
'''
id = MAVLINK_MSG_ID_ARP_TM
name = 'ARP_TM'
- fieldnames = ['timestamp', 'yaw', 'pitch', 'roll', 'target_yaw', 'target_pitch', 'target_roll', 'stepperX_steps', 'stepperY_steps', 'stepperX_pos', 'stepperY_pos', 'stepperX_speed', 'stepperY_speed', 'gps_latitude', 'gps_longitude', 'gps_height', 'gps_fix']
- ordered_fieldnames = ['timestamp', 'yaw', 'pitch', 'roll', 'target_yaw', 'target_pitch', 'target_roll', 'stepperX_steps', 'stepperY_steps', 'stepperX_pos', 'stepperY_pos', 'stepperX_speed', 'stepperY_speed', 'gps_latitude', 'gps_longitude', 'gps_height', 'gps_fix']
- fieldtypes = ['uint64_t', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'uint8_t']
+ fieldnames = ['timestamp', 'yaw', 'pitch', 'roll', 'target_yaw', 'target_pitch', 'stepperX_pos', 'stepperX_delta', 'stepperX_speed', 'stepperY_pos', 'stepperY_delta', 'stepperY_speed', 'gps_latitude', 'gps_longitude', 'gps_height', 'gps_fix']
+ ordered_fieldnames = ['timestamp', 'yaw', 'pitch', 'roll', 'target_yaw', 'target_pitch', 'stepperX_pos', 'stepperX_delta', 'stepperX_speed', 'stepperY_pos', 'stepperY_delta', 'stepperY_speed', 'gps_latitude', 'gps_longitude', 'gps_height', 'gps_fix']
+ fieldtypes = ['uint64_t', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float', 'uint8_t']
fielddisplays_by_name = {}
fieldenums_by_name = {}
- fieldunits_by_name = {"timestamp": "us", "yaw": "deg", "pitch": "deg", "roll": "deg", "target_yaw": "deg", "target_pitch": "deg", "target_roll": "deg", "stepperX_steps": "steps", "stepperY_steps": "steps", "stepperX_pos": "steps", "stepperY_pos": "steps", "stepperX_speed": "rps", "stepperY_speed": "rps", "gps_latitude": "deg", "gps_longitude": "deg", "gps_height": "m"}
- format = '<QfffffffffffffffB'
- native_format = bytearray('<QfffffffffffffffB', 'ascii')
- orders = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
- lengths = [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1]
- array_lengths = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
- crc_extra = 207
- unpacker = struct.Struct('<QfffffffffffffffB')
+ fieldunits_by_name = {"timestamp": "us", "yaw": "deg", "pitch": "deg", "roll": "deg", "target_yaw": "deg", "target_pitch": "deg", "stepperX_pos": "deg", "stepperX_delta": "deg", "stepperX_speed": "rps", "stepperY_pos": "deg", "stepperY_delta": "deg", "stepperY_speed": "rps", "gps_latitude": "deg", "gps_longitude": "deg", "gps_height": "m"}
+ format = '<QffffffffffffffB'
+ native_format = bytearray('<QffffffffffffffB', 'ascii')
+ orders = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]
+ lengths = [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1]
+ array_lengths = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+ crc_extra = 122
+ unpacker = struct.Struct('<QffffffffffffffB')
instance_field = None
instance_offset = -1
- def __init__(self, timestamp, yaw, pitch, roll, target_yaw, target_pitch, target_roll, stepperX_steps, stepperY_steps, stepperX_pos, stepperY_pos, stepperX_speed, stepperY_speed, gps_latitude, gps_longitude, gps_height, gps_fix):
+ def __init__(self, timestamp, yaw, pitch, roll, target_yaw, target_pitch, stepperX_pos, stepperX_delta, stepperX_speed, stepperY_pos, stepperY_delta, stepperY_speed, gps_latitude, gps_longitude, gps_height, gps_fix):
MAVLink_message.__init__(self, MAVLink_arp_tm_message.id, MAVLink_arp_tm_message.name)
self._fieldnames = MAVLink_arp_tm_message.fieldnames
self._instance_field = MAVLink_arp_tm_message.instance_field
@@ -1832,12 +1832,11 @@ class MAVLink_arp_tm_message(MAVLink_message):
self.roll = roll
self.target_yaw = target_yaw
self.target_pitch = target_pitch
- self.target_roll = target_roll
- self.stepperX_steps = stepperX_steps
- self.stepperY_steps = stepperY_steps
self.stepperX_pos = stepperX_pos
- self.stepperY_pos = stepperY_pos
+ self.stepperX_delta = stepperX_delta
self.stepperX_speed = stepperX_speed
+ self.stepperY_pos = stepperY_pos
+ self.stepperY_delta = stepperY_delta
self.stepperY_speed = stepperY_speed
self.gps_latitude = gps_latitude
self.gps_longitude = gps_longitude
@@ -1845,7 +1844,7 @@ class MAVLink_arp_tm_message(MAVLink_message):
self.gps_fix = gps_fix
def pack(self, mav, force_mavlink1=False):
- return MAVLink_message.pack(self, mav, 207, struct.pack('<QfffffffffffffffB', self.timestamp, self.yaw, self.pitch, self.roll, self.target_yaw, self.target_pitch, self.target_roll, self.stepperX_steps, self.stepperY_steps, self.stepperX_pos, self.stepperY_pos, self.stepperX_speed, self.stepperY_speed, self.gps_latitude, self.gps_longitude, self.gps_height, self.gps_fix), force_mavlink1=force_mavlink1)
+ return MAVLink_message.pack(self, mav, 122, struct.pack('<QffffffffffffffB', self.timestamp, self.yaw, self.pitch, self.roll, self.target_yaw, self.target_pitch, self.stepperX_pos, self.stepperX_delta, self.stepperX_speed, self.stepperY_pos, self.stepperY_delta, self.stepperY_speed, self.gps_latitude, self.gps_longitude, self.gps_height, self.gps_fix), force_mavlink1=force_mavlink1)
class MAVLink_set_antenna_coordinates_arp_tc_message(MAVLink_message):
'''
@@ -3923,7 +3922,7 @@ class MAVLink(object):
'''
return self.send(self.receiver_tm_encode(timestamp, main_radio_present, main_packet_tx_error_count, main_tx_bitrate, main_packet_rx_success_count, main_packet_rx_drop_count, main_rx_bitrate, main_rx_rssi, main_rx_fei, payload_radio_present, payload_packet_tx_error_count, payload_tx_bitrate, payload_packet_rx_success_count, payload_packet_rx_drop_count, payload_rx_bitrate, payload_rx_rssi, payload_rx_fei, ethernet_present, ethernet_status, battery_voltage), force_mavlink1=force_mavlink1)
- def arp_tm_encode(self, timestamp, yaw, pitch, roll, target_yaw, target_pitch, target_roll, stepperX_steps, stepperY_steps, stepperX_pos, stepperY_pos, stepperX_speed, stepperY_speed, gps_latitude, gps_longitude, gps_height, gps_fix):
+ def arp_tm_encode(self, timestamp, yaw, pitch, roll, target_yaw, target_pitch, stepperX_pos, stepperX_delta, stepperX_speed, stepperY_pos, stepperY_delta, stepperY_speed, gps_latitude, gps_longitude, gps_height, gps_fix):
'''
@@ -3933,12 +3932,11 @@ class MAVLink(object):
roll : Current Roll [deg] (type:float)
target_yaw : Target Yaw [deg] (type:float)
target_pitch : Target Pitch [deg] (type:float)
- target_roll : Target Roll [deg] (type:float)
- stepperX_steps : StepperX target delta steps [steps] (type:float)
- stepperY_steps : StepperY target delta steps [steps] (type:float)
- stepperX_pos : StepperX target pos [steps] (type:float)
- stepperY_pos : StepperY target pos [steps] (type:float)
+ stepperX_pos : StepperX current pos [deg] (type:float)
+ stepperX_delta : StepperX actuated delta [deg] (type:float)
stepperX_speed : StepperX Speed [rps] (type:float)
+ stepperY_pos : StepperY current pos [deg] (type:float)
+ stepperY_delta : StepperY actuated delta [deg] (type:float)
stepperY_speed : StepperY Speed [rps] (type:float)
gps_latitude : Latitude [deg] (type:float)
gps_longitude : Longitude [deg] (type:float)
@@ -3946,9 +3944,9 @@ class MAVLink(object):
gps_fix : Wether the GPS has a FIX (type:uint8_t)
'''
- return MAVLink_arp_tm_message(timestamp, yaw, pitch, roll, target_yaw, target_pitch, target_roll, stepperX_steps, stepperY_steps, stepperX_pos, stepperY_pos, stepperX_speed, stepperY_speed, gps_latitude, gps_longitude, gps_height, gps_fix)
+ return MAVLink_arp_tm_message(timestamp, yaw, pitch, roll, target_yaw, target_pitch, stepperX_pos, stepperX_delta, stepperX_speed, stepperY_pos, stepperY_delta, stepperY_speed, gps_latitude, gps_longitude, gps_height, gps_fix)
- def arp_tm_send(self, timestamp, yaw, pitch, roll, target_yaw, target_pitch, target_roll, stepperX_steps, stepperY_steps, stepperX_pos, stepperY_pos, stepperX_speed, stepperY_speed, gps_latitude, gps_longitude, gps_height, gps_fix, force_mavlink1=False):
+ def arp_tm_send(self, timestamp, yaw, pitch, roll, target_yaw, target_pitch, stepperX_pos, stepperX_delta, stepperX_speed, stepperY_pos, stepperY_delta, stepperY_speed, gps_latitude, gps_longitude, gps_height, gps_fix, force_mavlink1=False):
'''
@@ -3958,12 +3956,11 @@ class MAVLink(object):
roll : Current Roll [deg] (type:float)
target_yaw : Target Yaw [deg] (type:float)
target_pitch : Target Pitch [deg] (type:float)
- target_roll : Target Roll [deg] (type:float)
- stepperX_steps : StepperX target delta steps [steps] (type:float)
- stepperY_steps : StepperY target delta steps [steps] (type:float)
- stepperX_pos : StepperX target pos [steps] (type:float)
- stepperY_pos : StepperY target pos [steps] (type:float)
+ stepperX_pos : StepperX current pos [deg] (type:float)
+ stepperX_delta : StepperX actuated delta [deg] (type:float)
stepperX_speed : StepperX Speed [rps] (type:float)
+ stepperY_pos : StepperY current pos [deg] (type:float)
+ stepperY_delta : StepperY actuated delta [deg] (type:float)
stepperY_speed : StepperY Speed [rps] (type:float)
gps_latitude : Latitude [deg] (type:float)
gps_longitude : Longitude [deg] (type:float)
@@ -3971,7 +3968,7 @@ class MAVLink(object):
gps_fix : Wether the GPS has a FIX (type:uint8_t)
'''
- return self.send(self.arp_tm_encode(timestamp, yaw, pitch, roll, target_yaw, target_pitch, target_roll, stepperX_steps, stepperY_steps, stepperX_pos, stepperY_pos, stepperX_speed, stepperY_speed, gps_latitude, gps_longitude, gps_height, gps_fix), force_mavlink1=force_mavlink1)
+ return self.send(self.arp_tm_encode(timestamp, yaw, pitch, roll, target_yaw, target_pitch, stepperX_pos, stepperX_delta, stepperX_speed, stepperY_pos, stepperY_delta, stepperY_speed, gps_latitude, gps_longitude, gps_height, gps_fix), force_mavlink1=force_mavlink1)
def set_antenna_coordinates_arp_tc_encode(self, latitude, longitude):
'''
diff --git a/mavlink_lib/lyra/lyra.h b/mavlink_lib/lyra/lyra.h
index f951593e0daf7ab13a55ccb6bce7a4a609b174c2..856050d9a13f0c18e07ab1cc8cdf24f613283569 100644
--- a/mavlink_lib/lyra/lyra.h
+++ b/mavlink_lib/lyra/lyra.h
@@ -11,7 +11,7 @@
#endif
#undef MAVLINK_THIS_XML_HASH
-#define MAVLINK_THIS_XML_HASH 2380634962514379620
+#define MAVLINK_THIS_XML_HASH -9018180599407197224
#ifdef __cplusplus
extern "C" {
@@ -20,11 +20,11 @@ extern "C" {
// MESSAGE LENGTHS AND CRCS
#ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {0, 8, 1, 1, 1, 1, 5, 1, 1, 4, 4, 12, 8, 2, 4, 8, 1, 5, 5, 7, 4, 5, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2, 2, 74, 64, 32, 60, 32, 32, 32, 32, 56, 21, 5, 19, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 52, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 69, 8, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 14, 14, 46, 28, 27, 53, 77, 29, 176, 163, 92, 76, 42, 35, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define MAVLINK_MESSAGE_LENGTHS {0, 8, 1, 1, 1, 1, 5, 1, 1, 4, 4, 12, 8, 2, 4, 8, 1, 5, 5, 7, 4, 5, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2, 2, 74, 64, 32, 60, 32, 32, 32, 32, 56, 21, 5, 19, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 52, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 65, 8, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 14, 14, 46, 28, 27, 53, 77, 29, 176, 163, 92, 76, 42, 35, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#endif
#ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {0, 136, 198, 165, 248, 184, 215, 160, 226, 113, 38, 71, 67, 218, 44, 81, 181, 110, 22, 65, 79, 180, 246, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 50, 146, 57, 72, 87, 229, 245, 212, 140, 148, 6, 155, 87, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 117, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 207, 202, 164, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 242, 142, 108, 133, 234, 66, 11, 214, 84, 245, 115, 63, 79, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define MAVLINK_MESSAGE_CRCS {0, 136, 198, 165, 248, 184, 215, 160, 226, 113, 38, 71, 67, 218, 44, 81, 181, 110, 22, 65, 79, 180, 246, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 50, 146, 57, 72, 87, 229, 245, 212, 140, 148, 6, 155, 87, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 117, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 122, 202, 164, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 242, 142, 108, 133, 234, 66, 11, 214, 84, 245, 115, 63, 79, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#endif
#include "../protocol.h"
@@ -246,7 +246,7 @@ typedef enum PinsList
#undef MAVLINK_THIS_XML_HASH
-#define MAVLINK_THIS_XML_HASH 2380634962514379620
+#define MAVLINK_THIS_XML_HASH -9018180599407197224
#if MAVLINK_THIS_XML_HASH == MAVLINK_PRIMARY_XML_HASH
# define MAVLINK_MESSAGE_INFO {{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING_TC, MAVLINK_MESSAGE_INFO_COMMAND_TC, MAVLINK_MESSAGE_INFO_SYSTEM_TM_REQUEST_TC, MAVLINK_MESSAGE_INFO_SENSOR_TM_REQUEST_TC, MAVLINK_MESSAGE_INFO_SERVO_TM_REQUEST_TC, MAVLINK_MESSAGE_INFO_SET_SERVO_ANGLE_TC, MAVLINK_MESSAGE_INFO_WIGGLE_SERVO_TC, MAVLINK_MESSAGE_INFO_RESET_SERVO_TC, MAVLINK_MESSAGE_INFO_SET_REFERENCE_ALTITUDE_TC, MAVLINK_MESSAGE_INFO_SET_REFERENCE_TEMPERATURE_TC, MAVLINK_MESSAGE_INFO_SET_ORIENTATION_TC, MAVLINK_MESSAGE_INFO_SET_COORDINATES_TC, MAVLINK_MESSAGE_INFO_RAW_EVENT_TC, MAVLINK_MESSAGE_INFO_SET_DEPLOYMENT_ALTITUDE_TC, MAVLINK_MESSAGE_INFO_SET_TARGET_COORDINATES_TC, MAVLINK_MESSAGE_INFO_SET_ALGORITHM_TC, MAVLINK_MESSAGE_INFO_SET_ATOMIC_VALVE_TIMING_TC, MAVLINK_MESSAGE_INFO_SET_VALVE_MAXIMUM_APERTURE_TC, MAVLINK_MESSAGE_INFO_CONRIG_STATE_TC, MAVLINK_MESSAGE_INFO_SET_IGNITION_TIME_TC, MAVLINK_MESSAGE_INFO_SET_STEPPER_ANGLE_TC, MAVLINK_MESSAGE_INFO_SET_STEPPER_STEPS_TC, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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diff --git a/mavlink_lib/lyra/mavlink.h b/mavlink_lib/lyra/mavlink.h
index 2a4160249e8678facd0fdb2e8153fb275f1ff222..e9d09c0ef3bfb71896445fb46316037314f1e22b 100644
--- a/mavlink_lib/lyra/mavlink.h
+++ b/mavlink_lib/lyra/mavlink.h
@@ -6,7 +6,7 @@
#ifndef MAVLINK_H
#define MAVLINK_H
-#define MAVLINK_PRIMARY_XML_HASH 2380634962514379620
+#define MAVLINK_PRIMARY_XML_HASH -9018180599407197224
#ifndef MAVLINK_STX
#define MAVLINK_STX 254
diff --git a/mavlink_lib/lyra/mavlink_msg_arp_tm.h b/mavlink_lib/lyra/mavlink_msg_arp_tm.h
index 0358d4d7d44dd6221da05c5afccd115762d73df2..388b3d7d8997287aa3f5208df85eef7507c01cb0 100644
--- a/mavlink_lib/lyra/mavlink_msg_arp_tm.h
+++ b/mavlink_lib/lyra/mavlink_msg_arp_tm.h
@@ -11,12 +11,11 @@ typedef struct __mavlink_arp_tm_t {
float roll; /*< [deg] Current Roll*/
float target_yaw; /*< [deg] Target Yaw*/
float target_pitch; /*< [deg] Target Pitch*/
- float target_roll; /*< [deg] Target Roll*/
- float stepperX_steps; /*< [steps] StepperX target delta steps*/
- float stepperY_steps; /*< [steps] StepperY target delta steps*/
- float stepperX_pos; /*< [steps] StepperX target pos*/
- float stepperY_pos; /*< [steps] StepperY target pos*/
+ float stepperX_pos; /*< [deg] StepperX current pos*/
+ float stepperX_delta; /*< [deg] StepperX actuated delta*/
float stepperX_speed; /*< [rps] StepperX Speed*/
+ float stepperY_pos; /*< [deg] StepperY current pos*/
+ float stepperY_delta; /*< [deg] StepperY actuated delta*/
float stepperY_speed; /*< [rps] StepperY Speed*/
float gps_latitude; /*< [deg] Latitude*/
float gps_longitude; /*< [deg] Longitude*/
@@ -24,13 +23,13 @@ typedef struct __mavlink_arp_tm_t {
uint8_t gps_fix; /*< Wether the GPS has a FIX*/
} mavlink_arp_tm_t;
-#define MAVLINK_MSG_ID_ARP_TM_LEN 69
-#define MAVLINK_MSG_ID_ARP_TM_MIN_LEN 69
-#define MAVLINK_MSG_ID_169_LEN 69
-#define MAVLINK_MSG_ID_169_MIN_LEN 69
+#define MAVLINK_MSG_ID_ARP_TM_LEN 65
+#define MAVLINK_MSG_ID_ARP_TM_MIN_LEN 65
+#define MAVLINK_MSG_ID_169_LEN 65
+#define MAVLINK_MSG_ID_169_MIN_LEN 65
-#define MAVLINK_MSG_ID_ARP_TM_CRC 207
-#define MAVLINK_MSG_ID_169_CRC 207
+#define MAVLINK_MSG_ID_ARP_TM_CRC 122
+#define MAVLINK_MSG_ID_169_CRC 122
@@ -38,47 +37,45 @@ typedef struct __mavlink_arp_tm_t {
#define MAVLINK_MESSAGE_INFO_ARP_TM { \
169, \
"ARP_TM", \
- 17, \
+ 16, \
{ { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_arp_tm_t, timestamp) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_arp_tm_t, yaw) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_arp_tm_t, pitch) }, \
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_arp_tm_t, roll) }, \
{ "target_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_arp_tm_t, target_yaw) }, \
{ "target_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_arp_tm_t, target_pitch) }, \
- { "target_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_arp_tm_t, target_roll) }, \
- { "stepperX_steps", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_arp_tm_t, stepperX_steps) }, \
- { "stepperY_steps", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_arp_tm_t, stepperY_steps) }, \
- { "stepperX_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_arp_tm_t, stepperX_pos) }, \
- { "stepperY_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_arp_tm_t, stepperY_pos) }, \
- { "stepperX_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_arp_tm_t, stepperX_speed) }, \
- { "stepperY_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_arp_tm_t, stepperY_speed) }, \
- { "gps_latitude", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_arp_tm_t, gps_latitude) }, \
- { "gps_longitude", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_arp_tm_t, gps_longitude) }, \
- { "gps_height", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_arp_tm_t, gps_height) }, \
- { "gps_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 68, offsetof(mavlink_arp_tm_t, gps_fix) }, \
+ { "stepperX_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_arp_tm_t, stepperX_pos) }, \
+ { "stepperX_delta", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_arp_tm_t, stepperX_delta) }, \
+ { "stepperX_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_arp_tm_t, stepperX_speed) }, \
+ { "stepperY_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_arp_tm_t, stepperY_pos) }, \
+ { "stepperY_delta", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_arp_tm_t, stepperY_delta) }, \
+ { "stepperY_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_arp_tm_t, stepperY_speed) }, \
+ { "gps_latitude", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_arp_tm_t, gps_latitude) }, \
+ { "gps_longitude", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_arp_tm_t, gps_longitude) }, \
+ { "gps_height", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_arp_tm_t, gps_height) }, \
+ { "gps_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 64, offsetof(mavlink_arp_tm_t, gps_fix) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_ARP_TM { \
"ARP_TM", \
- 17, \
+ 16, \
{ { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_arp_tm_t, timestamp) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_arp_tm_t, yaw) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_arp_tm_t, pitch) }, \
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_arp_tm_t, roll) }, \
{ "target_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_arp_tm_t, target_yaw) }, \
{ "target_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_arp_tm_t, target_pitch) }, \
- { "target_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_arp_tm_t, target_roll) }, \
- { "stepperX_steps", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_arp_tm_t, stepperX_steps) }, \
- { "stepperY_steps", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_arp_tm_t, stepperY_steps) }, \
- { "stepperX_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_arp_tm_t, stepperX_pos) }, \
- { "stepperY_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_arp_tm_t, stepperY_pos) }, \
- { "stepperX_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_arp_tm_t, stepperX_speed) }, \
- { "stepperY_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_arp_tm_t, stepperY_speed) }, \
- { "gps_latitude", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_arp_tm_t, gps_latitude) }, \
- { "gps_longitude", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_arp_tm_t, gps_longitude) }, \
- { "gps_height", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_arp_tm_t, gps_height) }, \
- { "gps_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 68, offsetof(mavlink_arp_tm_t, gps_fix) }, \
+ { "stepperX_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_arp_tm_t, stepperX_pos) }, \
+ { "stepperX_delta", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_arp_tm_t, stepperX_delta) }, \
+ { "stepperX_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_arp_tm_t, stepperX_speed) }, \
+ { "stepperY_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_arp_tm_t, stepperY_pos) }, \
+ { "stepperY_delta", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_arp_tm_t, stepperY_delta) }, \
+ { "stepperY_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_arp_tm_t, stepperY_speed) }, \
+ { "gps_latitude", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_arp_tm_t, gps_latitude) }, \
+ { "gps_longitude", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_arp_tm_t, gps_longitude) }, \
+ { "gps_height", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_arp_tm_t, gps_height) }, \
+ { "gps_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 64, offsetof(mavlink_arp_tm_t, gps_fix) }, \
} \
}
#endif
@@ -95,12 +92,11 @@ typedef struct __mavlink_arp_tm_t {
* @param roll [deg] Current Roll
* @param target_yaw [deg] Target Yaw
* @param target_pitch [deg] Target Pitch
- * @param target_roll [deg] Target Roll
- * @param stepperX_steps [steps] StepperX target delta steps
- * @param stepperY_steps [steps] StepperY target delta steps
- * @param stepperX_pos [steps] StepperX target pos
- * @param stepperY_pos [steps] StepperY target pos
+ * @param stepperX_pos [deg] StepperX current pos
+ * @param stepperX_delta [deg] StepperX actuated delta
* @param stepperX_speed [rps] StepperX Speed
+ * @param stepperY_pos [deg] StepperY current pos
+ * @param stepperY_delta [deg] StepperY actuated delta
* @param stepperY_speed [rps] StepperY Speed
* @param gps_latitude [deg] Latitude
* @param gps_longitude [deg] Longitude
@@ -109,7 +105,7 @@ typedef struct __mavlink_arp_tm_t {
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_arp_tm_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
- uint64_t timestamp, float yaw, float pitch, float roll, float target_yaw, float target_pitch, float target_roll, float stepperX_steps, float stepperY_steps, float stepperX_pos, float stepperY_pos, float stepperX_speed, float stepperY_speed, float gps_latitude, float gps_longitude, float gps_height, uint8_t gps_fix)
+ uint64_t timestamp, float yaw, float pitch, float roll, float target_yaw, float target_pitch, float stepperX_pos, float stepperX_delta, float stepperX_speed, float stepperY_pos, float stepperY_delta, float stepperY_speed, float gps_latitude, float gps_longitude, float gps_height, uint8_t gps_fix)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ARP_TM_LEN];
@@ -119,17 +115,16 @@ static inline uint16_t mavlink_msg_arp_tm_pack(uint8_t system_id, uint8_t compon
_mav_put_float(buf, 16, roll);
_mav_put_float(buf, 20, target_yaw);
_mav_put_float(buf, 24, target_pitch);
- _mav_put_float(buf, 28, target_roll);
- _mav_put_float(buf, 32, stepperX_steps);
- _mav_put_float(buf, 36, stepperY_steps);
- _mav_put_float(buf, 40, stepperX_pos);
- _mav_put_float(buf, 44, stepperY_pos);
- _mav_put_float(buf, 48, stepperX_speed);
- _mav_put_float(buf, 52, stepperY_speed);
- _mav_put_float(buf, 56, gps_latitude);
- _mav_put_float(buf, 60, gps_longitude);
- _mav_put_float(buf, 64, gps_height);
- _mav_put_uint8_t(buf, 68, gps_fix);
+ _mav_put_float(buf, 28, stepperX_pos);
+ _mav_put_float(buf, 32, stepperX_delta);
+ _mav_put_float(buf, 36, stepperX_speed);
+ _mav_put_float(buf, 40, stepperY_pos);
+ _mav_put_float(buf, 44, stepperY_delta);
+ _mav_put_float(buf, 48, stepperY_speed);
+ _mav_put_float(buf, 52, gps_latitude);
+ _mav_put_float(buf, 56, gps_longitude);
+ _mav_put_float(buf, 60, gps_height);
+ _mav_put_uint8_t(buf, 64, gps_fix);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ARP_TM_LEN);
#else
@@ -140,12 +135,11 @@ static inline uint16_t mavlink_msg_arp_tm_pack(uint8_t system_id, uint8_t compon
packet.roll = roll;
packet.target_yaw = target_yaw;
packet.target_pitch = target_pitch;
- packet.target_roll = target_roll;
- packet.stepperX_steps = stepperX_steps;
- packet.stepperY_steps = stepperY_steps;
packet.stepperX_pos = stepperX_pos;
- packet.stepperY_pos = stepperY_pos;
+ packet.stepperX_delta = stepperX_delta;
packet.stepperX_speed = stepperX_speed;
+ packet.stepperY_pos = stepperY_pos;
+ packet.stepperY_delta = stepperY_delta;
packet.stepperY_speed = stepperY_speed;
packet.gps_latitude = gps_latitude;
packet.gps_longitude = gps_longitude;
@@ -171,12 +165,11 @@ static inline uint16_t mavlink_msg_arp_tm_pack(uint8_t system_id, uint8_t compon
* @param roll [deg] Current Roll
* @param target_yaw [deg] Target Yaw
* @param target_pitch [deg] Target Pitch
- * @param target_roll [deg] Target Roll
- * @param stepperX_steps [steps] StepperX target delta steps
- * @param stepperY_steps [steps] StepperY target delta steps
- * @param stepperX_pos [steps] StepperX target pos
- * @param stepperY_pos [steps] StepperY target pos
+ * @param stepperX_pos [deg] StepperX current pos
+ * @param stepperX_delta [deg] StepperX actuated delta
* @param stepperX_speed [rps] StepperX Speed
+ * @param stepperY_pos [deg] StepperY current pos
+ * @param stepperY_delta [deg] StepperY actuated delta
* @param stepperY_speed [rps] StepperY Speed
* @param gps_latitude [deg] Latitude
* @param gps_longitude [deg] Longitude
@@ -186,7 +179,7 @@ static inline uint16_t mavlink_msg_arp_tm_pack(uint8_t system_id, uint8_t compon
*/
static inline uint16_t mavlink_msg_arp_tm_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
- uint64_t timestamp,float yaw,float pitch,float roll,float target_yaw,float target_pitch,float target_roll,float stepperX_steps,float stepperY_steps,float stepperX_pos,float stepperY_pos,float stepperX_speed,float stepperY_speed,float gps_latitude,float gps_longitude,float gps_height,uint8_t gps_fix)
+ uint64_t timestamp,float yaw,float pitch,float roll,float target_yaw,float target_pitch,float stepperX_pos,float stepperX_delta,float stepperX_speed,float stepperY_pos,float stepperY_delta,float stepperY_speed,float gps_latitude,float gps_longitude,float gps_height,uint8_t gps_fix)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ARP_TM_LEN];
@@ -196,17 +189,16 @@ static inline uint16_t mavlink_msg_arp_tm_pack_chan(uint8_t system_id, uint8_t c
_mav_put_float(buf, 16, roll);
_mav_put_float(buf, 20, target_yaw);
_mav_put_float(buf, 24, target_pitch);
- _mav_put_float(buf, 28, target_roll);
- _mav_put_float(buf, 32, stepperX_steps);
- _mav_put_float(buf, 36, stepperY_steps);
- _mav_put_float(buf, 40, stepperX_pos);
- _mav_put_float(buf, 44, stepperY_pos);
- _mav_put_float(buf, 48, stepperX_speed);
- _mav_put_float(buf, 52, stepperY_speed);
- _mav_put_float(buf, 56, gps_latitude);
- _mav_put_float(buf, 60, gps_longitude);
- _mav_put_float(buf, 64, gps_height);
- _mav_put_uint8_t(buf, 68, gps_fix);
+ _mav_put_float(buf, 28, stepperX_pos);
+ _mav_put_float(buf, 32, stepperX_delta);
+ _mav_put_float(buf, 36, stepperX_speed);
+ _mav_put_float(buf, 40, stepperY_pos);
+ _mav_put_float(buf, 44, stepperY_delta);
+ _mav_put_float(buf, 48, stepperY_speed);
+ _mav_put_float(buf, 52, gps_latitude);
+ _mav_put_float(buf, 56, gps_longitude);
+ _mav_put_float(buf, 60, gps_height);
+ _mav_put_uint8_t(buf, 64, gps_fix);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ARP_TM_LEN);
#else
@@ -217,12 +209,11 @@ static inline uint16_t mavlink_msg_arp_tm_pack_chan(uint8_t system_id, uint8_t c
packet.roll = roll;
packet.target_yaw = target_yaw;
packet.target_pitch = target_pitch;
- packet.target_roll = target_roll;
- packet.stepperX_steps = stepperX_steps;
- packet.stepperY_steps = stepperY_steps;
packet.stepperX_pos = stepperX_pos;
- packet.stepperY_pos = stepperY_pos;
+ packet.stepperX_delta = stepperX_delta;
packet.stepperX_speed = stepperX_speed;
+ packet.stepperY_pos = stepperY_pos;
+ packet.stepperY_delta = stepperY_delta;
packet.stepperY_speed = stepperY_speed;
packet.gps_latitude = gps_latitude;
packet.gps_longitude = gps_longitude;
@@ -246,7 +237,7 @@ static inline uint16_t mavlink_msg_arp_tm_pack_chan(uint8_t system_id, uint8_t c
*/
static inline uint16_t mavlink_msg_arp_tm_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_arp_tm_t* arp_tm)
{
- return mavlink_msg_arp_tm_pack(system_id, component_id, msg, arp_tm->timestamp, arp_tm->yaw, arp_tm->pitch, arp_tm->roll, arp_tm->target_yaw, arp_tm->target_pitch, arp_tm->target_roll, arp_tm->stepperX_steps, arp_tm->stepperY_steps, arp_tm->stepperX_pos, arp_tm->stepperY_pos, arp_tm->stepperX_speed, arp_tm->stepperY_speed, arp_tm->gps_latitude, arp_tm->gps_longitude, arp_tm->gps_height, arp_tm->gps_fix);
+ return mavlink_msg_arp_tm_pack(system_id, component_id, msg, arp_tm->timestamp, arp_tm->yaw, arp_tm->pitch, arp_tm->roll, arp_tm->target_yaw, arp_tm->target_pitch, arp_tm->stepperX_pos, arp_tm->stepperX_delta, arp_tm->stepperX_speed, arp_tm->stepperY_pos, arp_tm->stepperY_delta, arp_tm->stepperY_speed, arp_tm->gps_latitude, arp_tm->gps_longitude, arp_tm->gps_height, arp_tm->gps_fix);
}
/**
@@ -260,7 +251,7 @@ static inline uint16_t mavlink_msg_arp_tm_encode(uint8_t system_id, uint8_t comp
*/
static inline uint16_t mavlink_msg_arp_tm_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_arp_tm_t* arp_tm)
{
- return mavlink_msg_arp_tm_pack_chan(system_id, component_id, chan, msg, arp_tm->timestamp, arp_tm->yaw, arp_tm->pitch, arp_tm->roll, arp_tm->target_yaw, arp_tm->target_pitch, arp_tm->target_roll, arp_tm->stepperX_steps, arp_tm->stepperY_steps, arp_tm->stepperX_pos, arp_tm->stepperY_pos, arp_tm->stepperX_speed, arp_tm->stepperY_speed, arp_tm->gps_latitude, arp_tm->gps_longitude, arp_tm->gps_height, arp_tm->gps_fix);
+ return mavlink_msg_arp_tm_pack_chan(system_id, component_id, chan, msg, arp_tm->timestamp, arp_tm->yaw, arp_tm->pitch, arp_tm->roll, arp_tm->target_yaw, arp_tm->target_pitch, arp_tm->stepperX_pos, arp_tm->stepperX_delta, arp_tm->stepperX_speed, arp_tm->stepperY_pos, arp_tm->stepperY_delta, arp_tm->stepperY_speed, arp_tm->gps_latitude, arp_tm->gps_longitude, arp_tm->gps_height, arp_tm->gps_fix);
}
/**
@@ -273,12 +264,11 @@ static inline uint16_t mavlink_msg_arp_tm_encode_chan(uint8_t system_id, uint8_t
* @param roll [deg] Current Roll
* @param target_yaw [deg] Target Yaw
* @param target_pitch [deg] Target Pitch
- * @param target_roll [deg] Target Roll
- * @param stepperX_steps [steps] StepperX target delta steps
- * @param stepperY_steps [steps] StepperY target delta steps
- * @param stepperX_pos [steps] StepperX target pos
- * @param stepperY_pos [steps] StepperY target pos
+ * @param stepperX_pos [deg] StepperX current pos
+ * @param stepperX_delta [deg] StepperX actuated delta
* @param stepperX_speed [rps] StepperX Speed
+ * @param stepperY_pos [deg] StepperY current pos
+ * @param stepperY_delta [deg] StepperY actuated delta
* @param stepperY_speed [rps] StepperY Speed
* @param gps_latitude [deg] Latitude
* @param gps_longitude [deg] Longitude
@@ -287,7 +277,7 @@ static inline uint16_t mavlink_msg_arp_tm_encode_chan(uint8_t system_id, uint8_t
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-static inline void mavlink_msg_arp_tm_send(mavlink_channel_t chan, uint64_t timestamp, float yaw, float pitch, float roll, float target_yaw, float target_pitch, float target_roll, float stepperX_steps, float stepperY_steps, float stepperX_pos, float stepperY_pos, float stepperX_speed, float stepperY_speed, float gps_latitude, float gps_longitude, float gps_height, uint8_t gps_fix)
+static inline void mavlink_msg_arp_tm_send(mavlink_channel_t chan, uint64_t timestamp, float yaw, float pitch, float roll, float target_yaw, float target_pitch, float stepperX_pos, float stepperX_delta, float stepperX_speed, float stepperY_pos, float stepperY_delta, float stepperY_speed, float gps_latitude, float gps_longitude, float gps_height, uint8_t gps_fix)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ARP_TM_LEN];
@@ -297,17 +287,16 @@ static inline void mavlink_msg_arp_tm_send(mavlink_channel_t chan, uint64_t time
_mav_put_float(buf, 16, roll);
_mav_put_float(buf, 20, target_yaw);
_mav_put_float(buf, 24, target_pitch);
- _mav_put_float(buf, 28, target_roll);
- _mav_put_float(buf, 32, stepperX_steps);
- _mav_put_float(buf, 36, stepperY_steps);
- _mav_put_float(buf, 40, stepperX_pos);
- _mav_put_float(buf, 44, stepperY_pos);
- _mav_put_float(buf, 48, stepperX_speed);
- _mav_put_float(buf, 52, stepperY_speed);
- _mav_put_float(buf, 56, gps_latitude);
- _mav_put_float(buf, 60, gps_longitude);
- _mav_put_float(buf, 64, gps_height);
- _mav_put_uint8_t(buf, 68, gps_fix);
+ _mav_put_float(buf, 28, stepperX_pos);
+ _mav_put_float(buf, 32, stepperX_delta);
+ _mav_put_float(buf, 36, stepperX_speed);
+ _mav_put_float(buf, 40, stepperY_pos);
+ _mav_put_float(buf, 44, stepperY_delta);
+ _mav_put_float(buf, 48, stepperY_speed);
+ _mav_put_float(buf, 52, gps_latitude);
+ _mav_put_float(buf, 56, gps_longitude);
+ _mav_put_float(buf, 60, gps_height);
+ _mav_put_uint8_t(buf, 64, gps_fix);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ARP_TM, buf, MAVLINK_MSG_ID_ARP_TM_MIN_LEN, MAVLINK_MSG_ID_ARP_TM_LEN, MAVLINK_MSG_ID_ARP_TM_CRC);
#else
@@ -318,12 +307,11 @@ static inline void mavlink_msg_arp_tm_send(mavlink_channel_t chan, uint64_t time
packet.roll = roll;
packet.target_yaw = target_yaw;
packet.target_pitch = target_pitch;
- packet.target_roll = target_roll;
- packet.stepperX_steps = stepperX_steps;
- packet.stepperY_steps = stepperY_steps;
packet.stepperX_pos = stepperX_pos;
- packet.stepperY_pos = stepperY_pos;
+ packet.stepperX_delta = stepperX_delta;
packet.stepperX_speed = stepperX_speed;
+ packet.stepperY_pos = stepperY_pos;
+ packet.stepperY_delta = stepperY_delta;
packet.stepperY_speed = stepperY_speed;
packet.gps_latitude = gps_latitude;
packet.gps_longitude = gps_longitude;
@@ -342,7 +330,7 @@ static inline void mavlink_msg_arp_tm_send(mavlink_channel_t chan, uint64_t time
static inline void mavlink_msg_arp_tm_send_struct(mavlink_channel_t chan, const mavlink_arp_tm_t* arp_tm)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
- mavlink_msg_arp_tm_send(chan, arp_tm->timestamp, arp_tm->yaw, arp_tm->pitch, arp_tm->roll, arp_tm->target_yaw, arp_tm->target_pitch, arp_tm->target_roll, arp_tm->stepperX_steps, arp_tm->stepperY_steps, arp_tm->stepperX_pos, arp_tm->stepperY_pos, arp_tm->stepperX_speed, arp_tm->stepperY_speed, arp_tm->gps_latitude, arp_tm->gps_longitude, arp_tm->gps_height, arp_tm->gps_fix);
+ mavlink_msg_arp_tm_send(chan, arp_tm->timestamp, arp_tm->yaw, arp_tm->pitch, arp_tm->roll, arp_tm->target_yaw, arp_tm->target_pitch, arp_tm->stepperX_pos, arp_tm->stepperX_delta, arp_tm->stepperX_speed, arp_tm->stepperY_pos, arp_tm->stepperY_delta, arp_tm->stepperY_speed, arp_tm->gps_latitude, arp_tm->gps_longitude, arp_tm->gps_height, arp_tm->gps_fix);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ARP_TM, (const char *)arp_tm, MAVLINK_MSG_ID_ARP_TM_MIN_LEN, MAVLINK_MSG_ID_ARP_TM_LEN, MAVLINK_MSG_ID_ARP_TM_CRC);
#endif
@@ -356,7 +344,7 @@ static inline void mavlink_msg_arp_tm_send_struct(mavlink_channel_t chan, const
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_arp_tm_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t timestamp, float yaw, float pitch, float roll, float target_yaw, float target_pitch, float target_roll, float stepperX_steps, float stepperY_steps, float stepperX_pos, float stepperY_pos, float stepperX_speed, float stepperY_speed, float gps_latitude, float gps_longitude, float gps_height, uint8_t gps_fix)
+static inline void mavlink_msg_arp_tm_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t timestamp, float yaw, float pitch, float roll, float target_yaw, float target_pitch, float stepperX_pos, float stepperX_delta, float stepperX_speed, float stepperY_pos, float stepperY_delta, float stepperY_speed, float gps_latitude, float gps_longitude, float gps_height, uint8_t gps_fix)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
@@ -366,17 +354,16 @@ static inline void mavlink_msg_arp_tm_send_buf(mavlink_message_t *msgbuf, mavlin
_mav_put_float(buf, 16, roll);
_mav_put_float(buf, 20, target_yaw);
_mav_put_float(buf, 24, target_pitch);
- _mav_put_float(buf, 28, target_roll);
- _mav_put_float(buf, 32, stepperX_steps);
- _mav_put_float(buf, 36, stepperY_steps);
- _mav_put_float(buf, 40, stepperX_pos);
- _mav_put_float(buf, 44, stepperY_pos);
- _mav_put_float(buf, 48, stepperX_speed);
- _mav_put_float(buf, 52, stepperY_speed);
- _mav_put_float(buf, 56, gps_latitude);
- _mav_put_float(buf, 60, gps_longitude);
- _mav_put_float(buf, 64, gps_height);
- _mav_put_uint8_t(buf, 68, gps_fix);
+ _mav_put_float(buf, 28, stepperX_pos);
+ _mav_put_float(buf, 32, stepperX_delta);
+ _mav_put_float(buf, 36, stepperX_speed);
+ _mav_put_float(buf, 40, stepperY_pos);
+ _mav_put_float(buf, 44, stepperY_delta);
+ _mav_put_float(buf, 48, stepperY_speed);
+ _mav_put_float(buf, 52, gps_latitude);
+ _mav_put_float(buf, 56, gps_longitude);
+ _mav_put_float(buf, 60, gps_height);
+ _mav_put_uint8_t(buf, 64, gps_fix);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ARP_TM, buf, MAVLINK_MSG_ID_ARP_TM_MIN_LEN, MAVLINK_MSG_ID_ARP_TM_LEN, MAVLINK_MSG_ID_ARP_TM_CRC);
#else
@@ -387,12 +374,11 @@ static inline void mavlink_msg_arp_tm_send_buf(mavlink_message_t *msgbuf, mavlin
packet->roll = roll;
packet->target_yaw = target_yaw;
packet->target_pitch = target_pitch;
- packet->target_roll = target_roll;
- packet->stepperX_steps = stepperX_steps;
- packet->stepperY_steps = stepperY_steps;
packet->stepperX_pos = stepperX_pos;
- packet->stepperY_pos = stepperY_pos;
+ packet->stepperX_delta = stepperX_delta;
packet->stepperX_speed = stepperX_speed;
+ packet->stepperY_pos = stepperY_pos;
+ packet->stepperY_delta = stepperY_delta;
packet->stepperY_speed = stepperY_speed;
packet->gps_latitude = gps_latitude;
packet->gps_longitude = gps_longitude;
@@ -470,63 +456,53 @@ static inline float mavlink_msg_arp_tm_get_target_pitch(const mavlink_message_t*
}
/**
- * @brief Get field target_roll from arp_tm message
+ * @brief Get field stepperX_pos from arp_tm message
*
- * @return [deg] Target Roll
+ * @return [deg] StepperX current pos
*/
-static inline float mavlink_msg_arp_tm_get_target_roll(const mavlink_message_t* msg)
+static inline float mavlink_msg_arp_tm_get_stepperX_pos(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
- * @brief Get field stepperX_steps from arp_tm message
+ * @brief Get field stepperX_delta from arp_tm message
*
- * @return [steps] StepperX target delta steps
+ * @return [deg] StepperX actuated delta
*/
-static inline float mavlink_msg_arp_tm_get_stepperX_steps(const mavlink_message_t* msg)
+static inline float mavlink_msg_arp_tm_get_stepperX_delta(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 32);
}
/**
- * @brief Get field stepperY_steps from arp_tm message
+ * @brief Get field stepperX_speed from arp_tm message
*
- * @return [steps] StepperY target delta steps
+ * @return [rps] StepperX Speed
*/
-static inline float mavlink_msg_arp_tm_get_stepperY_steps(const mavlink_message_t* msg)
+static inline float mavlink_msg_arp_tm_get_stepperX_speed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 36);
}
-/**
- * @brief Get field stepperX_pos from arp_tm message
- *
- * @return [steps] StepperX target pos
- */
-static inline float mavlink_msg_arp_tm_get_stepperX_pos(const mavlink_message_t* msg)
-{
- return _MAV_RETURN_float(msg, 40);
-}
-
/**
* @brief Get field stepperY_pos from arp_tm message
*
- * @return [steps] StepperY target pos
+ * @return [deg] StepperY current pos
*/
static inline float mavlink_msg_arp_tm_get_stepperY_pos(const mavlink_message_t* msg)
{
- return _MAV_RETURN_float(msg, 44);
+ return _MAV_RETURN_float(msg, 40);
}
/**
- * @brief Get field stepperX_speed from arp_tm message
+ * @brief Get field stepperY_delta from arp_tm message
*
- * @return [rps] StepperX Speed
+ * @return [deg] StepperY actuated delta
*/
-static inline float mavlink_msg_arp_tm_get_stepperX_speed(const mavlink_message_t* msg)
+static inline float mavlink_msg_arp_tm_get_stepperY_delta(const mavlink_message_t* msg)
{
- return _MAV_RETURN_float(msg, 48);
+ return _MAV_RETURN_float(msg, 44);
}
/**
@@ -536,7 +512,7 @@ static inline float mavlink_msg_arp_tm_get_stepperX_speed(const mavlink_message_
*/
static inline float mavlink_msg_arp_tm_get_stepperY_speed(const mavlink_message_t* msg)
{
- return _MAV_RETURN_float(msg, 52);
+ return _MAV_RETURN_float(msg, 48);
}
/**
@@ -546,7 +522,7 @@ static inline float mavlink_msg_arp_tm_get_stepperY_speed(const mavlink_message_
*/
static inline float mavlink_msg_arp_tm_get_gps_latitude(const mavlink_message_t* msg)
{
- return _MAV_RETURN_float(msg, 56);
+ return _MAV_RETURN_float(msg, 52);
}
/**
@@ -556,7 +532,7 @@ static inline float mavlink_msg_arp_tm_get_gps_latitude(const mavlink_message_t*
*/
static inline float mavlink_msg_arp_tm_get_gps_longitude(const mavlink_message_t* msg)
{
- return _MAV_RETURN_float(msg, 60);
+ return _MAV_RETURN_float(msg, 56);
}
/**
@@ -566,7 +542,7 @@ static inline float mavlink_msg_arp_tm_get_gps_longitude(const mavlink_message_t
*/
static inline float mavlink_msg_arp_tm_get_gps_height(const mavlink_message_t* msg)
{
- return _MAV_RETURN_float(msg, 64);
+ return _MAV_RETURN_float(msg, 60);
}
/**
@@ -576,7 +552,7 @@ static inline float mavlink_msg_arp_tm_get_gps_height(const mavlink_message_t* m
*/
static inline uint8_t mavlink_msg_arp_tm_get_gps_fix(const mavlink_message_t* msg)
{
- return _MAV_RETURN_uint8_t(msg, 68);
+ return _MAV_RETURN_uint8_t(msg, 64);
}
/**
@@ -594,12 +570,11 @@ static inline void mavlink_msg_arp_tm_decode(const mavlink_message_t* msg, mavli
arp_tm->roll = mavlink_msg_arp_tm_get_roll(msg);
arp_tm->target_yaw = mavlink_msg_arp_tm_get_target_yaw(msg);
arp_tm->target_pitch = mavlink_msg_arp_tm_get_target_pitch(msg);
- arp_tm->target_roll = mavlink_msg_arp_tm_get_target_roll(msg);
- arp_tm->stepperX_steps = mavlink_msg_arp_tm_get_stepperX_steps(msg);
- arp_tm->stepperY_steps = mavlink_msg_arp_tm_get_stepperY_steps(msg);
arp_tm->stepperX_pos = mavlink_msg_arp_tm_get_stepperX_pos(msg);
- arp_tm->stepperY_pos = mavlink_msg_arp_tm_get_stepperY_pos(msg);
+ arp_tm->stepperX_delta = mavlink_msg_arp_tm_get_stepperX_delta(msg);
arp_tm->stepperX_speed = mavlink_msg_arp_tm_get_stepperX_speed(msg);
+ arp_tm->stepperY_pos = mavlink_msg_arp_tm_get_stepperY_pos(msg);
+ arp_tm->stepperY_delta = mavlink_msg_arp_tm_get_stepperY_delta(msg);
arp_tm->stepperY_speed = mavlink_msg_arp_tm_get_stepperY_speed(msg);
arp_tm->gps_latitude = mavlink_msg_arp_tm_get_gps_latitude(msg);
arp_tm->gps_longitude = mavlink_msg_arp_tm_get_gps_longitude(msg);
diff --git a/mavlink_lib/lyra/testsuite.h b/mavlink_lib/lyra/testsuite.h
index cb89170ad025c65dec6cacf433f56ae8fc2ea8f2..37e460f282e2b05b61ff731fd7ff31ab137c35a6 100644
--- a/mavlink_lib/lyra/testsuite.h
+++ b/mavlink_lib/lyra/testsuite.h
@@ -2311,7 +2311,7 @@ static void mavlink_test_arp_tm(uint8_t system_id, uint8_t component_id, mavlink
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_arp_tm_t packet_in = {
- 93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,353.0,381.0,409.0,437.0,465.0,209
+ 93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,353.0,381.0,409.0,437.0,197
};
mavlink_arp_tm_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@@ -2321,12 +2321,11 @@ static void mavlink_test_arp_tm(uint8_t system_id, uint8_t component_id, mavlink
packet1.roll = packet_in.roll;
packet1.target_yaw = packet_in.target_yaw;
packet1.target_pitch = packet_in.target_pitch;
- packet1.target_roll = packet_in.target_roll;
- packet1.stepperX_steps = packet_in.stepperX_steps;
- packet1.stepperY_steps = packet_in.stepperY_steps;
packet1.stepperX_pos = packet_in.stepperX_pos;
- packet1.stepperY_pos = packet_in.stepperY_pos;
+ packet1.stepperX_delta = packet_in.stepperX_delta;
packet1.stepperX_speed = packet_in.stepperX_speed;
+ packet1.stepperY_pos = packet_in.stepperY_pos;
+ packet1.stepperY_delta = packet_in.stepperY_delta;
packet1.stepperY_speed = packet_in.stepperY_speed;
packet1.gps_latitude = packet_in.gps_latitude;
packet1.gps_longitude = packet_in.gps_longitude;
@@ -2346,12 +2345,12 @@ static void mavlink_test_arp_tm(uint8_t system_id, uint8_t component_id, mavlink
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
- mavlink_msg_arp_tm_pack(system_id, component_id, &msg , packet1.timestamp , packet1.yaw , packet1.pitch , packet1.roll , packet1.target_yaw , packet1.target_pitch , packet1.target_roll , packet1.stepperX_steps , packet1.stepperY_steps , packet1.stepperX_pos , packet1.stepperY_pos , packet1.stepperX_speed , packet1.stepperY_speed , packet1.gps_latitude , packet1.gps_longitude , packet1.gps_height , packet1.gps_fix );
+ mavlink_msg_arp_tm_pack(system_id, component_id, &msg , packet1.timestamp , packet1.yaw , packet1.pitch , packet1.roll , packet1.target_yaw , packet1.target_pitch , packet1.stepperX_pos , packet1.stepperX_delta , packet1.stepperX_speed , packet1.stepperY_pos , packet1.stepperY_delta , packet1.stepperY_speed , packet1.gps_latitude , packet1.gps_longitude , packet1.gps_height , packet1.gps_fix );
mavlink_msg_arp_tm_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
- mavlink_msg_arp_tm_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.timestamp , packet1.yaw , packet1.pitch , packet1.roll , packet1.target_yaw , packet1.target_pitch , packet1.target_roll , packet1.stepperX_steps , packet1.stepperY_steps , packet1.stepperX_pos , packet1.stepperY_pos , packet1.stepperX_speed , packet1.stepperY_speed , packet1.gps_latitude , packet1.gps_longitude , packet1.gps_height , packet1.gps_fix );
+ mavlink_msg_arp_tm_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.timestamp , packet1.yaw , packet1.pitch , packet1.roll , packet1.target_yaw , packet1.target_pitch , packet1.stepperX_pos , packet1.stepperX_delta , packet1.stepperX_speed , packet1.stepperY_pos , packet1.stepperY_delta , packet1.stepperY_speed , packet1.gps_latitude , packet1.gps_longitude , packet1.gps_height , packet1.gps_fix );
mavlink_msg_arp_tm_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
@@ -2364,7 +2363,7 @@ static void mavlink_test_arp_tm(uint8_t system_id, uint8_t component_id, mavlink
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
- mavlink_msg_arp_tm_send(MAVLINK_COMM_1 , packet1.timestamp , packet1.yaw , packet1.pitch , packet1.roll , packet1.target_yaw , packet1.target_pitch , packet1.target_roll , packet1.stepperX_steps , packet1.stepperY_steps , packet1.stepperX_pos , packet1.stepperY_pos , packet1.stepperX_speed , packet1.stepperY_speed , packet1.gps_latitude , packet1.gps_longitude , packet1.gps_height , packet1.gps_fix );
+ mavlink_msg_arp_tm_send(MAVLINK_COMM_1 , packet1.timestamp , packet1.yaw , packet1.pitch , packet1.roll , packet1.target_yaw , packet1.target_pitch , packet1.stepperX_pos , packet1.stepperX_delta , packet1.stepperX_speed , packet1.stepperY_pos , packet1.stepperY_delta , packet1.stepperY_speed , packet1.gps_latitude , packet1.gps_longitude , packet1.gps_height , packet1.gps_fix );
mavlink_msg_arp_tm_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
diff --git a/mavlink_lib/lyra/version.h b/mavlink_lib/lyra/version.h
index e233225489849605130234351e7fff993d9b2990..b53ba52bd18e3a1db05542f25c65594211306357 100644
--- a/mavlink_lib/lyra/version.h
+++ b/mavlink_lib/lyra/version.h
@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
-#define MAVLINK_BUILD_DATE "Sat Dec 02 2023"
+#define MAVLINK_BUILD_DATE "Mon Dec 04 2023"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 176
diff --git a/message_definitions/lyra.xml b/message_definitions/lyra.xml
index d475d085c6742b9f6ef3ed54e512365db8303519..013b0004130b58cc156a974aa4d70f75b54c27cf 100644
--- a/message_definitions/lyra.xml
+++ b/message_definitions/lyra.xml
@@ -480,13 +480,12 @@
<field name="roll" type="float" units="deg">Current Roll</field>
<field name="target_yaw" type="float" units="deg">Target Yaw</field>
<field name="target_pitch" type="float" units="deg">Target Pitch</field>
- <field name="target_roll" type="float" units="deg">Target Roll</field>
- <field name="stepperX_steps" type="float" units="steps">StepperX target delta steps</field>
- <field name="stepperY_steps" type="float" units="steps">StepperY target delta steps</field>
- <field name="stepperX_pos" type="float" units="steps">StepperX target pos</field>
- <field name="stepperY_pos" type="float" units="steps">StepperY target pos</field>
- <field name="stepperX_speed" type="float" units="rps">StepperX Speed</field>
- <field name="stepperY_speed" type="float" units="rps">StepperY Speed</field>
+ <field name="stepperX_pos" type="float" units="deg">StepperX current position wrt the boot position</field>
+ <field name="stepperX_delta" type="float" units="deg">StepperX last actuated delta angle</field>
+ <field name="stepperX_speed" type="float" units="rps">StepperX current speed</field>
+ <field name="stepperY_pos" type="float" units="deg">StepperY current position wrt the boot position</field>
+ <field name="stepperY_delta" type="float" units="deg">StepperY last actuated delta angle</field>
+ <field name="stepperY_speed" type="float" units="rps">StepperY current Speed</field>
<field name="gps_latitude" type="float" units="deg">Latitude</field>
<field name="gps_longitude" type="float" units="deg">Longitude</field>
<field name="gps_height" type="float" units="m">Altitude</field>