From 1385d3d62a8db9b5ce81b5ba90f665f282dab7ac Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Tue, 12 Dec 2023 17:21:49 +0100
Subject: [PATCH] [ARP] Added height field in set coordinates commands and
turned steps to a int16_t
---
mavlink_lib/lyra/mavlink_msg_arp_command_tc.h | 213 ++++++++++++++++++
message_definitions/lyra.xml | 45 +++-
2 files changed, 257 insertions(+), 1 deletion(-)
create mode 100644 mavlink_lib/lyra/mavlink_msg_arp_command_tc.h
diff --git a/mavlink_lib/lyra/mavlink_msg_arp_command_tc.h b/mavlink_lib/lyra/mavlink_msg_arp_command_tc.h
new file mode 100644
index 0000000..c99ad25
--- /dev/null
+++ b/mavlink_lib/lyra/mavlink_msg_arp_command_tc.h
@@ -0,0 +1,213 @@
+#pragma once
+// MESSAGE ARP_COMMAND_TC PACKING
+
+#define MAVLINK_MSG_ID_ARP_COMMAND_TC 172
+
+
+typedef struct __mavlink_arp_command_tc_t {
+ uint8_t command_id; /*< A member of the MavArpCommandList enum*/
+} mavlink_arp_command_tc_t;
+
+#define MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN 1
+#define MAVLINK_MSG_ID_ARP_COMMAND_TC_MIN_LEN 1
+#define MAVLINK_MSG_ID_172_LEN 1
+#define MAVLINK_MSG_ID_172_MIN_LEN 1
+
+#define MAVLINK_MSG_ID_ARP_COMMAND_TC_CRC 181
+#define MAVLINK_MSG_ID_172_CRC 181
+
+
+
+#if MAVLINK_COMMAND_24BIT
+#define MAVLINK_MESSAGE_INFO_ARP_COMMAND_TC { \
+ 172, \
+ "ARP_COMMAND_TC", \
+ 1, \
+ { { "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_arp_command_tc_t, command_id) }, \
+ } \
+}
+#else
+#define MAVLINK_MESSAGE_INFO_ARP_COMMAND_TC { \
+ "ARP_COMMAND_TC", \
+ 1, \
+ { { "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_arp_command_tc_t, command_id) }, \
+ } \
+}
+#endif
+
+/**
+ * @brief Pack a arp_command_tc 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 command_id A member of the MavArpCommandList enum
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_arp_command_tc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t command_id)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN];
+ _mav_put_uint8_t(buf, 0, command_id);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN);
+#else
+ mavlink_arp_command_tc_t packet;
+ packet.command_id = command_id;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_ARP_COMMAND_TC;
+ return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ARP_COMMAND_TC_MIN_LEN, MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN, MAVLINK_MSG_ID_ARP_COMMAND_TC_CRC);
+}
+
+/**
+ * @brief Pack a arp_command_tc 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 command_id A member of the MavArpCommandList enum
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_arp_command_tc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t command_id)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN];
+ _mav_put_uint8_t(buf, 0, command_id);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN);
+#else
+ mavlink_arp_command_tc_t packet;
+ packet.command_id = command_id;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_ARP_COMMAND_TC;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ARP_COMMAND_TC_MIN_LEN, MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN, MAVLINK_MSG_ID_ARP_COMMAND_TC_CRC);
+}
+
+/**
+ * @brief Encode a arp_command_tc 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 arp_command_tc C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_arp_command_tc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_arp_command_tc_t* arp_command_tc)
+{
+ return mavlink_msg_arp_command_tc_pack(system_id, component_id, msg, arp_command_tc->command_id);
+}
+
+/**
+ * @brief Encode a arp_command_tc 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 arp_command_tc C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_arp_command_tc_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_arp_command_tc_t* arp_command_tc)
+{
+ return mavlink_msg_arp_command_tc_pack_chan(system_id, component_id, chan, msg, arp_command_tc->command_id);
+}
+
+/**
+ * @brief Send a arp_command_tc message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param command_id A member of the MavArpCommandList enum
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_arp_command_tc_send(mavlink_channel_t chan, uint8_t command_id)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN];
+ _mav_put_uint8_t(buf, 0, command_id);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ARP_COMMAND_TC, buf, MAVLINK_MSG_ID_ARP_COMMAND_TC_MIN_LEN, MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN, MAVLINK_MSG_ID_ARP_COMMAND_TC_CRC);
+#else
+ mavlink_arp_command_tc_t packet;
+ packet.command_id = command_id;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ARP_COMMAND_TC, (const char *)&packet, MAVLINK_MSG_ID_ARP_COMMAND_TC_MIN_LEN, MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN, MAVLINK_MSG_ID_ARP_COMMAND_TC_CRC);
+#endif
+}
+
+/**
+ * @brief Send a arp_command_tc message
+ * @param chan MAVLink channel to send the message
+ * @param struct The MAVLink struct to serialize
+ */
+static inline void mavlink_msg_arp_command_tc_send_struct(mavlink_channel_t chan, const mavlink_arp_command_tc_t* arp_command_tc)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ mavlink_msg_arp_command_tc_send(chan, arp_command_tc->command_id);
+#else
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ARP_COMMAND_TC, (const char *)arp_command_tc, MAVLINK_MSG_ID_ARP_COMMAND_TC_MIN_LEN, MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN, MAVLINK_MSG_ID_ARP_COMMAND_TC_CRC);
+#endif
+}
+
+#if MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN <= MAVLINK_MAX_PAYLOAD_LEN
+/*
+ This variant 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_arp_command_tc_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t command_id)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char *buf = (char *)msgbuf;
+ _mav_put_uint8_t(buf, 0, command_id);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ARP_COMMAND_TC, buf, MAVLINK_MSG_ID_ARP_COMMAND_TC_MIN_LEN, MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN, MAVLINK_MSG_ID_ARP_COMMAND_TC_CRC);
+#else
+ mavlink_arp_command_tc_t *packet = (mavlink_arp_command_tc_t *)msgbuf;
+ packet->command_id = command_id;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ARP_COMMAND_TC, (const char *)packet, MAVLINK_MSG_ID_ARP_COMMAND_TC_MIN_LEN, MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN, MAVLINK_MSG_ID_ARP_COMMAND_TC_CRC);
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE ARP_COMMAND_TC UNPACKING
+
+
+/**
+ * @brief Get field command_id from arp_command_tc message
+ *
+ * @return A member of the MavArpCommandList enum
+ */
+static inline uint8_t mavlink_msg_arp_command_tc_get_command_id(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 0);
+}
+
+/**
+ * @brief Decode a arp_command_tc message into a struct
+ *
+ * @param msg The message to decode
+ * @param arp_command_tc C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_arp_command_tc_decode(const mavlink_message_t* msg, mavlink_arp_command_tc_t* arp_command_tc)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ arp_command_tc->command_id = mavlink_msg_arp_command_tc_get_command_id(msg);
+#else
+ uint8_t len = msg->len < MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN? msg->len : MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN;
+ memset(arp_command_tc, 0, MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN);
+ memcpy(arp_command_tc, _MAV_PAYLOAD(msg), len);
+#endif
+}
diff --git a/message_definitions/lyra.xml b/message_definitions/lyra.xml
index 35c1b3c..0d09cdc 100644
--- a/message_definitions/lyra.xml
+++ b/message_definitions/lyra.xml
@@ -8,6 +8,7 @@
<entry name="MAV_SYSID_PAYLOAD" value="2"></entry>
<entry name="MAV_SYSID_RIG" value="3"></entry>
<entry name="MAV_SYSID_GS" value="4"></entry>
+ <entry name="MAV_SYSID_ARP" value="5"></entry>
</enum>
<enum name="SystemTMList">
<description>Enum list for all the telemetries that can be requested</description>
@@ -159,7 +160,7 @@
</entry>
</enum>
<enum name="MavCommandList">
- <description>Enum of the commands</description>
+ <description>Enum of the rocket commands</description>
<entry name="MAV_CMD_ARM" value="1">
<description>Command to arm the rocket</description>
</entry>
@@ -227,6 +228,39 @@
<description>Command to enter HIL mode at next reboot</description>
</entry>
</enum>
+ <enum name="MavArpCommandList">
+ <description>Enum of the ARP commands</description>
+ <entry name="MAV_ARP_CMD_FORCE_INIT" value="1">
+ <description>Command to force the initialization of ARP</description>
+ </entry>
+ <entry name="MAV_ARP_CMD_RESET_ALGORITHM" value="2">
+ <description>Command to reset the algorithm</description>
+ </entry>
+ <entry name="MAV_ARP_CMD_RESET_BOARD" value="3">
+ <description>Command to force a reboot</description>
+ </entry>
+ <entry name="MAV_ARP_CMD_FORCE_NO_FEEDBACK" value="4">
+ <description>Command to move ARP to the not-feedback mode</description>
+ </entry>
+ <entry name="MAV_ARP_CMD_ARM" value="5">
+ <description>Command to arm ARP</description>
+ </entry>
+ <entry name="MAV_ARP_CMD_DISARM" value="6">
+ <description>Command to disarm ARP</description>
+ </entry>
+ <entry name="MAV_ARP_CMD_FOLLOW" value="7">
+ <description>Command to start Follow loop of ARP</description>
+ </entry>
+ <entry name="MAV_ARP_CMD_CALIBRATE" value="8">
+ <description>Command to calibrate ARP</description>
+ </entry>
+ <entry name="MAV_ARP_CMD_ENTER_TEST_MODE" value="9">
+ <description>Command to enter the test mode</description>
+ </entry>
+ <entry name="MAV_ARP_CMD_EXIT_TEST_MODE" value="10">
+ <description>Command to exit the test mode</description>
+ </entry>
+ </enum>
<enum name="ServosList">
<description>Enum of all the servos used on Gemini</description>
<entry name="AIR_BRAKES_SERVO" value="1"></entry>
@@ -525,6 +559,7 @@
<message id="150" name="ARP_TM">
<description></description>
<field name="timestamp" type="uint64_t" units="us">Timestamp</field>
+ <field name="state" type="uint8_t">State Machine Controller State</field>
<field name="yaw" type="float" units="deg">Current Yaw</field>
<field name="pitch" type="float" units="deg">Current Pitch</field>
<field name="roll" type="float" units="deg">Current Roll</field>
@@ -557,16 +592,23 @@
<field name="ethernet_present" type="uint8_t">Boolean indicating the presence of the ethernet module</field>
<field name="ethernet_status" type="uint8_t">Status flag indicating the status of the ethernet PHY</field>
<field name="battery_voltage" type="float" units="V">Battery voltage</field>
+ <field name="log_number" type="int16_t">Currently active log file, -1 if the logger is inactive</field>
</message>
<message id="151" name="SET_ANTENNA_COORDINATES_ARP_TC">
<description>Sets current antennas coordinates</description>
<field name="latitude" type="float" units="deg">Latitude</field>
<field name="longitude" type="float" units="deg">Longitude</field>
+ <field name="height" type="float" units="m">Height</field>
</message>
<message id="152" name="SET_ROCKET_COORDINATES_ARP_TC">
<description>Sets current rocket coordinates</description>
<field name="latitude" type="float" units="deg">Latitude</field>
<field name="longitude" type="float" units="deg">Longitude</field>
+ <field name="height" type="float" units="m">Height</field>
+ </message>
+ <message id="172" name="ARP_COMMAND_TC">
+ <description>TC containing a command with no parameters that trigger some action</description>
+ <field name="command_id" type="uint8_t">A member of the MavArpCommandList enum</field>
</message>
<!-- FROM ROCKET TO GROUND: SPECIFIC -->
@@ -861,6 +903,7 @@
<field name="top_tank_pressure" type="float" units="Bar">Tank upper pressure</field>
<field name="bottom_tank_pressure" type="float" units="Bar">Tank bottom pressure</field>
<field name="combustion_chamber_pressure" type="float" units="Bar">Pressure inside the combustion chamber used for automatic shutdown</field>
+ <field name="floating_level" type="uint8_t">Floating level in tank</field>
<field name="tank_temperature" type="float">Tank temperature</field>
<field name="main_valve_state" type="uint8_t">1 If the main valve is open </field>
<field name="venting_valve_state" type="uint8_t">1 If the venting valve is open </field>
--
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