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Mavlink: update
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@meee1
meee1 committed Oct 5, 2024
1 parent 693c6e3 commit 8aaf0b6
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Showing 4 changed files with 217 additions and 29 deletions.
108 changes: 107 additions & 1 deletion ExtLibs/Mavlink/Mavlink.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@

public partial class MAVLink
{
public const string MAVLINK_BUILD_DATE = "Thu Aug 01 2024";
public const string MAVLINK_BUILD_DATE = "Sat Oct 05 2024";
public const string MAVLINK_WIRE_PROTOCOL_VERSION = "2.0";
public const int MAVLINK_MAX_PAYLOAD_LEN = 255;

Expand Down Expand Up @@ -242,6 +242,7 @@ public partial class MAVLink
new message_info(271, "CAMERA_FOV_STATUS", 22, 52, 52, typeof( mavlink_camera_fov_status_t )),
new message_info(275, "CAMERA_TRACKING_IMAGE_STATUS", 126, 31, 31, typeof( mavlink_camera_tracking_image_status_t )),
new message_info(276, "CAMERA_TRACKING_GEO_STATUS", 18, 49, 49, typeof( mavlink_camera_tracking_geo_status_t )),
new message_info(277, "CAMERA_THERMAL_RANGE", 62, 30, 30, typeof( mavlink_camera_thermal_range_t )),
new message_info(280, "GIMBAL_MANAGER_INFORMATION", 70, 33, 33, typeof( mavlink_gimbal_manager_information_t )),
new message_info(281, "GIMBAL_MANAGER_STATUS", 48, 13, 13, typeof( mavlink_gimbal_manager_status_t )),
new message_info(282, "GIMBAL_MANAGER_SET_ATTITUDE", 123, 35, 35, typeof( mavlink_gimbal_manager_set_attitude_t )),
Expand Down Expand Up @@ -571,6 +572,7 @@ public enum MAVLINK_MSG_ID
CAMERA_FOV_STATUS = 271,
CAMERA_TRACKING_IMAGE_STATUS = 275,
CAMERA_TRACKING_GEO_STATUS = 276,
CAMERA_THERMAL_RANGE = 277,
GIMBAL_MANAGER_INFORMATION = 280,
GIMBAL_MANAGER_STATUS = 281,
GIMBAL_MANAGER_SET_ATTITUDE = 282,
Expand Down Expand Up @@ -2096,6 +2098,9 @@ public enum EKF_STATUS_FLAGS: ushort
///<summary> Set if EKF has never been healthy. | </summary>
[Description("Set if EKF has never been healthy.")]
EKF_UNINITIALIZED=1024,
///<summary> Set if EKF believes the GPS input data is faulty. | </summary>
[Description("Set if EKF believes the GPS input data is faulty.")]
EKF_GPS_GLITCHING=32768,

};

Expand Down Expand Up @@ -4588,6 +4593,9 @@ public enum CAMERA_CAP_FLAGS: uint
///<summary> Camera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS). | </summary>
[Description("Camera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS).")]
HAS_TRACKING_GEO_STATUS=2048,
///<summary> Camera supports absolute thermal range (request CAMERA_THERMAL_RANGE with MAV_CMD_REQUEST_MESSAGE) (WIP). | </summary>
[Description("Camera supports absolute thermal range (request CAMERA_THERMAL_RANGE with MAV_CMD_REQUEST_MESSAGE) (WIP).")]
HAS_THERMAL_RANGE=4096,

};

Expand All @@ -4601,6 +4609,9 @@ public enum VIDEO_STREAM_STATUS_FLAGS: ushort
///<summary> Stream is thermal imaging | </summary>
[Description("Stream is thermal imaging")]
THERMAL=2,
///<summary> Stream can report absolute thermal range (see CAMERA_THERMAL_RANGE). (WIP). | </summary>
[Description("Stream can report absolute thermal range (see CAMERA_THERMAL_RANGE). (WIP).")]
THERMAL_RANGE_ENABLED=4,

};

Expand Down Expand Up @@ -26618,6 +26629,101 @@ public static mavlink_camera_tracking_geo_status_t PopulateXMLOrder(/*CAMERA_TRA
public /*CAMERA_TRACKING_STATUS_FLAGS*/byte tracking_status;
};

[Obsolete]
/// extensions_start 0
[StructLayout(LayoutKind.Sequential,Pack=1,Size=30)]
///<summary> Camera absolute thermal range. This can be streamed when the associated `VIDEO_STREAM_STATUS.flag` bit `VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED` is set, but a GCS may choose to only request it for the current active stream. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval (param3 indicates the stream id of the current camera, or 0 for all streams, param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras). </summary>
public struct mavlink_camera_thermal_range_t
{
/// packet ordered constructor
public mavlink_camera_thermal_range_t(uint time_boot_ms,float max,float max_point_x,float max_point_y,float min,float min_point_x,float min_point_y,byte stream_id,byte camera_device_id)
{
this.time_boot_ms = time_boot_ms;
this.max = max;
this.max_point_x = max_point_x;
this.max_point_y = max_point_y;
this.min = min;
this.min_point_x = min_point_x;
this.min_point_y = min_point_y;
this.stream_id = stream_id;
this.camera_device_id = camera_device_id;

}

/// packet xml order
public static mavlink_camera_thermal_range_t PopulateXMLOrder(uint time_boot_ms,byte stream_id,byte camera_device_id,float max,float max_point_x,float max_point_y,float min,float min_point_x,float min_point_y)
{
var msg = new mavlink_camera_thermal_range_t();

msg.time_boot_ms = time_boot_ms;
msg.stream_id = stream_id;
msg.camera_device_id = camera_device_id;
msg.max = max;
msg.max_point_x = max_point_x;
msg.max_point_y = max_point_y;
msg.min = min;
msg.min_point_x = min_point_x;
msg.min_point_y = min_point_y;

return msg;
}


/// <summary>Timestamp (time since system boot). [ms] </summary>
[Units("[ms]")]
[Description("Timestamp (time since system boot).")]
//[FieldOffset(0)]
public uint time_boot_ms;

/// <summary>Temperature max. [degC] </summary>
[Units("[degC]")]
[Description("Temperature max.")]
//[FieldOffset(4)]
public float max;

/// <summary>Temperature max point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown. </summary>
[Units("")]
[Description("Temperature max point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.")]
//[FieldOffset(8)]
public float max_point_x;

/// <summary>Temperature max point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown. </summary>
[Units("")]
[Description("Temperature max point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.")]
//[FieldOffset(12)]
public float max_point_y;

/// <summary>Temperature min. [degC] </summary>
[Units("[degC]")]
[Description("Temperature min.")]
//[FieldOffset(16)]
public float min;

/// <summary>Temperature min point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown. </summary>
[Units("")]
[Description("Temperature min point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.")]
//[FieldOffset(20)]
public float min_point_x;

/// <summary>Temperature min point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown. </summary>
[Units("")]
[Description("Temperature min point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.")]
//[FieldOffset(24)]
public float min_point_y;

/// <summary>Video Stream ID (1 for first, 2 for second, etc.) </summary>
[Units("")]
[Description("Video Stream ID (1 for first, 2 for second, etc.)")]
//[FieldOffset(28)]
public byte stream_id;

/// <summary>Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id). </summary>
[Units("")]
[Description("Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).")]
//[FieldOffset(29)]
public byte camera_device_id;
};


/// extensions_start 0
[StructLayout(LayoutKind.Sequential,Pack=1,Size=33)]
Expand Down
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