Updated MAVLink, fixed typo there, fixed missing header in HIL

libs/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h

@@ -16,7 +16,7 @@ extern "C" {
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 111, 21, 21, 144, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 148, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 111, 21, 21, 144, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO

libs/mavlink/include/mavlink/v1.0/ardupilotmega/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Sep  3 14:55:54 2012"
+#define MAVLINK_BUILD_DATE "Wed Sep  5 11:04:20 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  

libs/mavlink/include/mavlink/v1.0/common/common.h

@@ -16,7 +16,7 @@ extern "C" {
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 148, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO

libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h

@@ -4,7 +4,7 @@
 
 typedef struct __mavlink_global_vision_position_estimate_t
 {
- uint64_t usec; ///< Timestamp (milliseconds)
+ uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
  float x; ///< Global X position
  float y; ///< Global Y position
  float z; ///< Global Z position
@@ -38,7 +38,7 @@ typedef struct __mavlink_global_vision_position_estimate_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -84,7 +84,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_encode(uint8_
  * @brief Send a global_vision_position_estimate message
  * @param chan MAVLink channel to send the message
  *
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -187,7 +187,7 @@ static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_chan
 /**
  * @brief Get field usec from global_vision_position_estimate message
  *
- * @return Timestamp (milliseconds)
+ * @return Timestamp (microseconds, synced to UNIX time or since system boot)
  */
 static inline uint64_t mavlink_msg_global_vision_position_estimate_get_usec(const mavlink_message_t* msg)
 {

libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_highres_imu.h

@@ -4,7 +4,7 @@
 
 typedef struct __mavlink_highres_imu_t
 {
- uint64_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ uint64_t time_usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
  float xacc; ///< X acceleration (m/s^2)
  float yacc; ///< Y acceleration (m/s^2)
  float zacc; ///< Z acceleration (m/s^2)
@@ -14,8 +14,8 @@ typedef struct __mavlink_highres_imu_t
  float xmag; ///< X Magnetic field (Gauss)
  float ymag; ///< Y Magnetic field (Gauss)
  float zmag; ///< Z Magnetic field (Gauss)
- float abs_pressure; ///< Absolute pressure in hectopascal
- float diff_pressure; ///< Differential pressure in hectopascal
+ float abs_pressure; ///< Absolute pressure in millibar
+ float diff_pressure; ///< Differential pressure in millibar
  float pressure_alt; ///< Altitude calculated from pressure
  float temperature; ///< Temperature in degrees celsius
 } mavlink_highres_imu_t;
@@ -28,7 +28,7 @@ typedef struct __mavlink_highres_imu_t
 #define MAVLINK_MESSAGE_INFO_HIGHRES_IMU { \
 	"HIGHRES_IMU", \
 	14, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_highres_imu_t, time_boot_ms) }, \
+	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_highres_imu_t, time_usec) }, \
          { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_highres_imu_t, xacc) }, \
          { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_highres_imu_t, yacc) }, \
          { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_highres_imu_t, zacc) }, \
@@ -52,7 +52,7 @@ typedef struct __mavlink_highres_imu_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param xacc X acceleration (m/s^2)
  * @param yacc Y acceleration (m/s^2)
  * @param zacc Z acceleration (m/s^2)
@@ -62,18 +62,18 @@ typedef struct __mavlink_highres_imu_t
  * @param xmag X Magnetic field (Gauss)
  * @param ymag Y Magnetic field (Gauss)
  * @param zmag Z Magnetic field (Gauss)
- * @param abs_pressure Absolute pressure in hectopascal
- * @param diff_pressure Differential pressure in hectopascal
+ * @param abs_pressure Absolute pressure in millibar
+ * @param diff_pressure Differential pressure in millibar
  * @param pressure_alt Altitude calculated from pressure
  * @param temperature Temperature in degrees celsius
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_boot_ms, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature)
+						       uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[60];
-	_mav_put_uint64_t(buf, 0, time_boot_ms);
+	_mav_put_uint64_t(buf, 0, time_usec);
 	_mav_put_float(buf, 8, xacc);
 	_mav_put_float(buf, 12, yacc);
 	_mav_put_float(buf, 16, zacc);
@@ -91,7 +91,7 @@ static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t c
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 60);
 #else
 	mavlink_highres_imu_t packet;
-	packet.time_boot_ms = time_boot_ms;
+	packet.time_usec = time_usec;
 	packet.xacc = xacc;
 	packet.yacc = yacc;
 	packet.zacc = zacc;
@@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t c
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
-	return mavlink_finalize_message(msg, system_id, component_id, 60, 106);
+	return mavlink_finalize_message(msg, system_id, component_id, 60, 148);
 }
 
 /**
@@ -119,7 +119,7 @@ static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t c
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param xacc X acceleration (m/s^2)
  * @param yacc Y acceleration (m/s^2)
  * @param zacc Z acceleration (m/s^2)
@@ -129,19 +129,19 @@ static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t c
  * @param xmag X Magnetic field (Gauss)
  * @param ymag Y Magnetic field (Gauss)
  * @param zmag Z Magnetic field (Gauss)
- * @param abs_pressure Absolute pressure in hectopascal
- * @param diff_pressure Differential pressure in hectopascal
+ * @param abs_pressure Absolute pressure in millibar
+ * @param diff_pressure Differential pressure in millibar
  * @param pressure_alt Altitude calculated from pressure
  * @param temperature Temperature in degrees celsius
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_highres_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 							   mavlink_message_t* msg,
-						           uint64_t time_boot_ms,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature)
+						           uint64_t time_usec,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[60];
-	_mav_put_uint64_t(buf, 0, time_boot_ms);
+	_mav_put_uint64_t(buf, 0, time_usec);
 	_mav_put_float(buf, 8, xacc);
 	_mav_put_float(buf, 12, yacc);
 	_mav_put_float(buf, 16, zacc);
@@ -159,7 +159,7 @@ static inline uint16_t mavlink_msg_highres_imu_pack_chan(uint8_t system_id, uint
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 60);
 #else
 	mavlink_highres_imu_t packet;
-	packet.time_boot_ms = time_boot_ms;
+	packet.time_usec = time_usec;
 	packet.xacc = xacc;
 	packet.yacc = yacc;
 	packet.zacc = zacc;
@@ -178,7 +178,7 @@ static inline uint16_t mavlink_msg_highres_imu_pack_chan(uint8_t system_id, uint
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 60, 106);
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 60, 148);
 }
 
 /**
@@ -191,14 +191,14 @@ static inline uint16_t mavlink_msg_highres_imu_pack_chan(uint8_t system_id, uint
  */
 static inline uint16_t mavlink_msg_highres_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_highres_imu_t* highres_imu)
 {
-	return mavlink_msg_highres_imu_pack(system_id, component_id, msg, highres_imu->time_boot_ms, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature);
+	return mavlink_msg_highres_imu_pack(system_id, component_id, msg, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature);
 }
 
 /**
  * @brief Send a highres_imu message
  * @param chan MAVLink channel to send the message
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param xacc X acceleration (m/s^2)
  * @param yacc Y acceleration (m/s^2)
  * @param zacc Z acceleration (m/s^2)
@@ -208,18 +208,18 @@ static inline uint16_t mavlink_msg_highres_imu_encode(uint8_t system_id, uint8_t
  * @param xmag X Magnetic field (Gauss)
  * @param ymag Y Magnetic field (Gauss)
  * @param zmag Z Magnetic field (Gauss)
- * @param abs_pressure Absolute pressure in hectopascal
- * @param diff_pressure Differential pressure in hectopascal
+ * @param abs_pressure Absolute pressure in millibar
+ * @param diff_pressure Differential pressure in millibar
  * @param pressure_alt Altitude calculated from pressure
  * @param temperature Temperature in degrees celsius
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t time_boot_ms, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature)
+static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[60];
-	_mav_put_uint64_t(buf, 0, time_boot_ms);
+	_mav_put_uint64_t(buf, 0, time_usec);
 	_mav_put_float(buf, 8, xacc);
 	_mav_put_float(buf, 12, yacc);
 	_mav_put_float(buf, 16, zacc);
@@ -234,10 +234,10 @@ static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t
 	_mav_put_float(buf, 52, pressure_alt);
 	_mav_put_float(buf, 56, temperature);
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, 60, 106);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, 60, 148);
 #else
 	mavlink_highres_imu_t packet;
-	packet.time_boot_ms = time_boot_ms;
+	packet.time_usec = time_usec;
 	packet.xacc = xacc;
 	packet.yacc = yacc;
 	packet.zacc = zacc;
@@ -252,7 +252,7 @@ static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t
 	packet.pressure_alt = pressure_alt;
 	packet.temperature = temperature;
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)&packet, 60, 106);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)&packet, 60, 148);
 #endif
 }
 
@@ -262,11 +262,11 @@ static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t
 
 
 /**
- * @brief Get field time_boot_ms from highres_imu message
+ * @brief Get field time_usec from highres_imu message
  *
- * @return Timestamp (milliseconds since system boot)
+ * @return Timestamp (microseconds, synced to UNIX time or since system boot)
  */
-static inline uint64_t mavlink_msg_highres_imu_get_time_boot_ms(const mavlink_message_t* msg)
+static inline uint64_t mavlink_msg_highres_imu_get_time_usec(const mavlink_message_t* msg)
 {
 	return _MAV_RETURN_uint64_t(msg,  0);
 }
@@ -364,7 +364,7 @@ static inline float mavlink_msg_highres_imu_get_zmag(const mavlink_message_t* ms
 /**
  * @brief Get field abs_pressure from highres_imu message
  *
- * @return Absolute pressure in hectopascal
+ * @return Absolute pressure in millibar
  */
 static inline float mavlink_msg_highres_imu_get_abs_pressure(const mavlink_message_t* msg)
 {
@@ -374,7 +374,7 @@ static inline float mavlink_msg_highres_imu_get_abs_pressure(const mavlink_messa
 /**
  * @brief Get field diff_pressure from highres_imu message
  *
- * @return Differential pressure in hectopascal
+ * @return Differential pressure in millibar
  */
 static inline float mavlink_msg_highres_imu_get_diff_pressure(const mavlink_message_t* msg)
 {
@@ -410,7 +410,7 @@ static inline float mavlink_msg_highres_imu_get_temperature(const mavlink_messag
 static inline void mavlink_msg_highres_imu_decode(const mavlink_message_t* msg, mavlink_highres_imu_t* highres_imu)
 {
 #if MAVLINK_NEED_BYTE_SWAP
-	highres_imu->time_boot_ms = mavlink_msg_highres_imu_get_time_boot_ms(msg);
+	highres_imu->time_usec = mavlink_msg_highres_imu_get_time_usec(msg);
 	highres_imu->xacc = mavlink_msg_highres_imu_get_xacc(msg);
 	highres_imu->yacc = mavlink_msg_highres_imu_get_yacc(msg);
 	highres_imu->zacc = mavlink_msg_highres_imu_get_zacc(msg);

libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h

@@ -4,7 +4,7 @@
 
 typedef struct __mavlink_vicon_position_estimate_t
 {
- uint64_t usec; ///< Timestamp (milliseconds)
+ uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
  float x; ///< Global X position
  float y; ///< Global Y position
  float z; ///< Global Z position
@@ -38,7 +38,7 @@ typedef struct __mavlink_vicon_position_estimate_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -84,7 +84,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_i
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_encode(uint8_t system
  * @brief Send a vicon_position_estimate message
  * @param chan MAVLink channel to send the message
  *
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -187,7 +187,7 @@ static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t ch
 /**
  * @brief Get field usec from vicon_position_estimate message
  *
- * @return Timestamp (milliseconds)
+ * @return Timestamp (microseconds, synced to UNIX time or since system boot)
  */
 static inline uint64_t mavlink_msg_vicon_position_estimate_get_usec(const mavlink_message_t* msg)
 {

libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h

@@ -4,7 +4,7 @@
 
 typedef struct __mavlink_vision_position_estimate_t
 {
- uint64_t usec; ///< Timestamp (milliseconds)
+ uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
  float x; ///< Global X position
  float y; ///< Global Y position
  float z; ///< Global Z position
@@ -38,7 +38,7 @@ typedef struct __mavlink_vision_position_estimate_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -84,7 +84,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_encode(uint8_t syste
  * @brief Send a vision_position_estimate message
  * @param chan MAVLink channel to send the message
  *
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -187,7 +187,7 @@ static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t c
 /**
  * @brief Get field usec from vision_position_estimate message
  *
- * @return Timestamp (milliseconds)
+ * @return Timestamp (microseconds, synced to UNIX time or since system boot)
  */
 static inline uint64_t mavlink_msg_vision_position_estimate_get_usec(const mavlink_message_t* msg)
 {

libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h

@@ -4,7 +4,7 @@
 
 typedef struct __mavlink_vision_speed_estimate_t
 {
- uint64_t usec; ///< Timestamp (milliseconds)
+ uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
  float x; ///< Global X speed
  float y; ///< Global Y speed
  float z; ///< Global Z speed
@@ -32,7 +32,7 @@ typedef struct __mavlink_vision_speed_estimate_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X speed
  * @param y Global Y speed
  * @param z Global Z speed
@@ -69,7 +69,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id,
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X speed
  * @param y Global Y speed
  * @param z Global Z speed
@@ -118,7 +118,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_encode(uint8_t system_i
  * @brief Send a vision_speed_estimate message
  * @param chan MAVLink channel to send the message
  *
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X speed
  * @param y Global Y speed
  * @param z Global Z speed
@@ -154,7 +154,7 @@ static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan
 /**
  * @brief Get field usec from vision_speed_estimate message
  *
- * @return Timestamp (milliseconds)
+ * @return Timestamp (microseconds, synced to UNIX time or since system boot)
  */
 static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_message_t* msg)
 {

libs/mavlink/include/mavlink/v1.0/common/testsuite.h

@@ -3738,7 +3738,7 @@ static void mavlink_test_highres_imu(uint8_t system_id, uint8_t component_id, ma
 	};
 	mavlink_highres_imu_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
+        	packet1.time_usec = packet_in.time_usec;
         	packet1.xacc = packet_in.xacc;
         	packet1.yacc = packet_in.yacc;
         	packet1.zacc = packet_in.zacc;
@@ -3761,12 +3761,12 @@ static void mavlink_test_highres_imu(uint8_t system_id, uint8_t component_id, ma
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_highres_imu_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
+	mavlink_msg_highres_imu_pack(system_id, component_id, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
 	mavlink_msg_highres_imu_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_highres_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
+	mavlink_msg_highres_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
 	mavlink_msg_highres_imu_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
@@ -3779,7 +3779,7 @@ static void mavlink_test_highres_imu(uint8_t system_id, uint8_t component_id, ma
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_highres_imu_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
+	mavlink_msg_highres_imu_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
 	mavlink_msg_highres_imu_decode(last_msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }

libs/mavlink/include/mavlink/v1.0/common/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Sep  3 14:56:15 2012"
+#define MAVLINK_BUILD_DATE "Wed Sep  5 11:04:39 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  

libs/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h

@@ -16,7 +16,7 @@ extern "C" {
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 86, 95, 224, 0, 0, 0, 0, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 23, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 148, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 86, 95, 224, 0, 0, 0, 0, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 23, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO

libs/mavlink/include/mavlink/v1.0/pixhawk/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Sep  3 14:56:05 2012"
+#define MAVLINK_BUILD_DATE "Wed Sep  5 11:04:29 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

libs/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h

@@ -16,7 +16,7 @@ extern "C" {
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 15, 0, 108, 0, 146, 0, 16, 0, 32, 0, 159, 0, 24, 248, 79, 0, 5, 0, 170, 0, 157, 0, 209, 0, 243, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 148, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 15, 0, 108, 0, 146, 0, 16, 0, 32, 0, 159, 0, 24, 248, 79, 0, 5, 0, 170, 0, 157, 0, 209, 0, 243, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO

libs/mavlink/include/mavlink/v1.0/sensesoar/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Sep  3 14:56:15 2012"
+#define MAVLINK_BUILD_DATE "Wed Sep  5 11:04:39 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  

qgroundcontrol.pri

@@ -32,8 +32,8 @@ DEFINES += _TTY_NOWARN_
 # MAC OS X
 macx|macx-g++42|macx-g++: {
 
-	CONFIG += x86_64 cocoa phonon
-	CONFIG -= x86
+        CONFIG += x86_64 cocoa phonon
+        CONFIG -= x86
 
 	QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6
 
@@ -130,6 +130,7 @@ macx|macx-g++42|macx-g++: {
 	LIBS += -framework GLUT \
         -framework Cocoa \
         -L$$BASEDIR/libs/lib/mac64/lib \
+        -L$$BASEDIR/libs/lib/mac32/lib \
         -lOpenThreads \
         -losg \
         -losgViewer \

src/comm/QGCHilLink.h

@@ -3,6 +3,7 @@
 
 #include <QThread>
 #include <QProcess>
+#include "inttypes.h"
 
 class QGCHilLink : public QThread
 {