Updated MAVLink

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 "Thu Aug 23 16:39:14 2012"
+#define MAVLINK_BUILD_DATE "Mon Sep  3 14:55:54 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  

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

@@ -5,9 +5,9 @@
 typedef struct __mavlink_attitude_t
 {
  uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- float roll; ///< Roll angle (rad)
- float pitch; ///< Pitch angle (rad)
- float yaw; ///< Yaw angle (rad)
+ float roll; ///< Roll angle (rad, -pi..+pi)
+ float pitch; ///< Pitch angle (rad, -pi..+pi)
+ float yaw; ///< Yaw angle (rad, -pi..+pi)
  float rollspeed; ///< Roll angular speed (rad/s)
  float pitchspeed; ///< Pitch angular speed (rad/s)
  float yawspeed; ///< Yaw angular speed (rad/s)
@@ -39,9 +39,9 @@ typedef struct __mavlink_attitude_t
  * @param msg The MAVLink message to compress the data into
  *
  * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
+ * @param roll Roll angle (rad, -pi..+pi)
+ * @param pitch Pitch angle (rad, -pi..+pi)
+ * @param yaw Yaw angle (rad, -pi..+pi)
  * @param rollspeed Roll angular speed (rad/s)
  * @param pitchspeed Pitch angular speed (rad/s)
  * @param yawspeed Yaw angular speed (rad/s)
@@ -85,9 +85,9 @@ static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t comp
  * @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 roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
+ * @param roll Roll angle (rad, -pi..+pi)
+ * @param pitch Pitch angle (rad, -pi..+pi)
+ * @param yaw Yaw angle (rad, -pi..+pi)
  * @param rollspeed Roll angular speed (rad/s)
  * @param pitchspeed Pitch angular speed (rad/s)
  * @param yawspeed Yaw angular speed (rad/s)
@@ -143,9 +143,9 @@ static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t co
  * @param chan MAVLink channel to send the message
  *
  * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
+ * @param roll Roll angle (rad, -pi..+pi)
+ * @param pitch Pitch angle (rad, -pi..+pi)
+ * @param yaw Yaw angle (rad, -pi..+pi)
  * @param rollspeed Roll angular speed (rad/s)
  * @param pitchspeed Pitch angular speed (rad/s)
  * @param yawspeed Yaw angular speed (rad/s)
@@ -197,7 +197,7 @@ static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_messa
 /**
  * @brief Get field roll from attitude message
  *
- * @return Roll angle (rad)
+ * @return Roll angle (rad, -pi..+pi)
  */
 static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
 {
@@ -207,7 +207,7 @@ static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
 /**
  * @brief Get field pitch from attitude message
  *
- * @return Pitch angle (rad)
+ * @return Pitch angle (rad, -pi..+pi)
  */
 static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
 {
@@ -217,7 +217,7 @@ static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
 /**
  * @brief Get field yaw from attitude message
  *
- * @return Yaw angle (rad)
+ * @return Yaw angle (rad, -pi..+pi)
  */
 static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
 {

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

@@ -0,0 +1,430 @@
+// MESSAGE HIGHRES_IMU PACKING
+
+#define MAVLINK_MSG_ID_HIGHRES_IMU 105
+
+typedef struct __mavlink_highres_imu_t
+{
+ uint64_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ float xacc; ///< X acceleration (m/s^2)
+ float yacc; ///< Y acceleration (m/s^2)
+ float zacc; ///< Z acceleration (m/s^2)
+ float xgyro; ///< Angular speed around X axis (rad / sec)
+ float ygyro; ///< Angular speed around Y axis (rad / sec)
+ float zgyro; ///< Angular speed around Z axis (rad / sec)
+ 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 pressure_alt; ///< Altitude calculated from pressure
+ float temperature; ///< Temperature in degrees celsius
+} mavlink_highres_imu_t;
+
+#define MAVLINK_MSG_ID_HIGHRES_IMU_LEN 60
+#define MAVLINK_MSG_ID_105_LEN 60
+
+
+
+#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) }, \
+         { "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) }, \
+         { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_highres_imu_t, xgyro) }, \
+         { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_highres_imu_t, ygyro) }, \
+         { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_highres_imu_t, zgyro) }, \
+         { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_highres_imu_t, xmag) }, \
+         { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_highres_imu_t, ymag) }, \
+         { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_highres_imu_t, zmag) }, \
+         { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_highres_imu_t, abs_pressure) }, \
+         { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_highres_imu_t, diff_pressure) }, \
+         { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_highres_imu_t, pressure_alt) }, \
+         { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_highres_imu_t, temperature) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a highres_imu 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 time_boot_ms Timestamp (milliseconds since system boot)
+ * @param xacc X acceleration (m/s^2)
+ * @param yacc Y acceleration (m/s^2)
+ * @param zacc Z acceleration (m/s^2)
+ * @param xgyro Angular speed around X axis (rad / sec)
+ * @param ygyro Angular speed around Y axis (rad / sec)
+ * @param zgyro Angular speed around Z axis (rad / sec)
+ * @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 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)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[60];
+	_mav_put_uint64_t(buf, 0, time_boot_ms);
+	_mav_put_float(buf, 8, xacc);
+	_mav_put_float(buf, 12, yacc);
+	_mav_put_float(buf, 16, zacc);
+	_mav_put_float(buf, 20, xgyro);
+	_mav_put_float(buf, 24, ygyro);
+	_mav_put_float(buf, 28, zgyro);
+	_mav_put_float(buf, 32, xmag);
+	_mav_put_float(buf, 36, ymag);
+	_mav_put_float(buf, 40, zmag);
+	_mav_put_float(buf, 44, abs_pressure);
+	_mav_put_float(buf, 48, diff_pressure);
+	_mav_put_float(buf, 52, pressure_alt);
+	_mav_put_float(buf, 56, temperature);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 60);
+#else
+	mavlink_highres_imu_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.xacc = xacc;
+	packet.yacc = yacc;
+	packet.zacc = zacc;
+	packet.xgyro = xgyro;
+	packet.ygyro = ygyro;
+	packet.zgyro = zgyro;
+	packet.xmag = xmag;
+	packet.ymag = ymag;
+	packet.zmag = zmag;
+	packet.abs_pressure = abs_pressure;
+	packet.diff_pressure = diff_pressure;
+	packet.pressure_alt = pressure_alt;
+	packet.temperature = temperature;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 60);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
+	return mavlink_finalize_message(msg, system_id, component_id, 60, 106);
+}
+
+/**
+ * @brief Pack a highres_imu 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param xacc X acceleration (m/s^2)
+ * @param yacc Y acceleration (m/s^2)
+ * @param zacc Z acceleration (m/s^2)
+ * @param xgyro Angular speed around X axis (rad / sec)
+ * @param ygyro Angular speed around Y axis (rad / sec)
+ * @param zgyro Angular speed around Z axis (rad / sec)
+ * @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 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)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[60];
+	_mav_put_uint64_t(buf, 0, time_boot_ms);
+	_mav_put_float(buf, 8, xacc);
+	_mav_put_float(buf, 12, yacc);
+	_mav_put_float(buf, 16, zacc);
+	_mav_put_float(buf, 20, xgyro);
+	_mav_put_float(buf, 24, ygyro);
+	_mav_put_float(buf, 28, zgyro);
+	_mav_put_float(buf, 32, xmag);
+	_mav_put_float(buf, 36, ymag);
+	_mav_put_float(buf, 40, zmag);
+	_mav_put_float(buf, 44, abs_pressure);
+	_mav_put_float(buf, 48, diff_pressure);
+	_mav_put_float(buf, 52, pressure_alt);
+	_mav_put_float(buf, 56, temperature);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 60);
+#else
+	mavlink_highres_imu_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.xacc = xacc;
+	packet.yacc = yacc;
+	packet.zacc = zacc;
+	packet.xgyro = xgyro;
+	packet.ygyro = ygyro;
+	packet.zgyro = zgyro;
+	packet.xmag = xmag;
+	packet.ymag = ymag;
+	packet.zmag = zmag;
+	packet.abs_pressure = abs_pressure;
+	packet.diff_pressure = diff_pressure;
+	packet.pressure_alt = pressure_alt;
+	packet.temperature = temperature;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 60);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 60, 106);
+}
+
+/**
+ * @brief Encode a highres_imu struct into a 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 highres_imu C-struct to read the message contents from
+ */
+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);
+}
+
+/**
+ * @brief Send a highres_imu message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param xacc X acceleration (m/s^2)
+ * @param yacc Y acceleration (m/s^2)
+ * @param zacc Z acceleration (m/s^2)
+ * @param xgyro Angular speed around X axis (rad / sec)
+ * @param ygyro Angular speed around Y axis (rad / sec)
+ * @param zgyro Angular speed around Z axis (rad / sec)
+ * @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 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)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[60];
+	_mav_put_uint64_t(buf, 0, time_boot_ms);
+	_mav_put_float(buf, 8, xacc);
+	_mav_put_float(buf, 12, yacc);
+	_mav_put_float(buf, 16, zacc);
+	_mav_put_float(buf, 20, xgyro);
+	_mav_put_float(buf, 24, ygyro);
+	_mav_put_float(buf, 28, zgyro);
+	_mav_put_float(buf, 32, xmag);
+	_mav_put_float(buf, 36, ymag);
+	_mav_put_float(buf, 40, zmag);
+	_mav_put_float(buf, 44, abs_pressure);
+	_mav_put_float(buf, 48, diff_pressure);
+	_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);
+#else
+	mavlink_highres_imu_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.xacc = xacc;
+	packet.yacc = yacc;
+	packet.zacc = zacc;
+	packet.xgyro = xgyro;
+	packet.ygyro = ygyro;
+	packet.zgyro = zgyro;
+	packet.xmag = xmag;
+	packet.ymag = ymag;
+	packet.zmag = zmag;
+	packet.abs_pressure = abs_pressure;
+	packet.diff_pressure = diff_pressure;
+	packet.pressure_alt = pressure_alt;
+	packet.temperature = temperature;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)&packet, 60, 106);
+#endif
+}
+
+#endif
+
+// MESSAGE HIGHRES_IMU UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from highres_imu message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint64_t mavlink_msg_highres_imu_get_time_boot_ms(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint64_t(msg,  0);
+}
+
+/**
+ * @brief Get field xacc from highres_imu message
+ *
+ * @return X acceleration (m/s^2)
+ */
+static inline float mavlink_msg_highres_imu_get_xacc(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field yacc from highres_imu message
+ *
+ * @return Y acceleration (m/s^2)
+ */
+static inline float mavlink_msg_highres_imu_get_yacc(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field zacc from highres_imu message
+ *
+ * @return Z acceleration (m/s^2)
+ */
+static inline float mavlink_msg_highres_imu_get_zacc(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field xgyro from highres_imu message
+ *
+ * @return Angular speed around X axis (rad / sec)
+ */
+static inline float mavlink_msg_highres_imu_get_xgyro(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Get field ygyro from highres_imu message
+ *
+ * @return Angular speed around Y axis (rad / sec)
+ */
+static inline float mavlink_msg_highres_imu_get_ygyro(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  24);
+}
+
+/**
+ * @brief Get field zgyro from highres_imu message
+ *
+ * @return Angular speed around Z axis (rad / sec)
+ */
+static inline float mavlink_msg_highres_imu_get_zgyro(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  28);
+}
+
+/**
+ * @brief Get field xmag from highres_imu message
+ *
+ * @return X Magnetic field (Gauss)
+ */
+static inline float mavlink_msg_highres_imu_get_xmag(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  32);
+}
+
+/**
+ * @brief Get field ymag from highres_imu message
+ *
+ * @return Y Magnetic field (Gauss)
+ */
+static inline float mavlink_msg_highres_imu_get_ymag(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  36);
+}
+
+/**
+ * @brief Get field zmag from highres_imu message
+ *
+ * @return Z Magnetic field (Gauss)
+ */
+static inline float mavlink_msg_highres_imu_get_zmag(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  40);
+}
+
+/**
+ * @brief Get field abs_pressure from highres_imu message
+ *
+ * @return Absolute pressure in hectopascal
+ */
+static inline float mavlink_msg_highres_imu_get_abs_pressure(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  44);
+}
+
+/**
+ * @brief Get field diff_pressure from highres_imu message
+ *
+ * @return Differential pressure in hectopascal
+ */
+static inline float mavlink_msg_highres_imu_get_diff_pressure(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  48);
+}
+
+/**
+ * @brief Get field pressure_alt from highres_imu message
+ *
+ * @return Altitude calculated from pressure
+ */
+static inline float mavlink_msg_highres_imu_get_pressure_alt(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  52);
+}
+
+/**
+ * @brief Get field temperature from highres_imu message
+ *
+ * @return Temperature in degrees celsius
+ */
+static inline float mavlink_msg_highres_imu_get_temperature(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  56);
+}
+
+/**
+ * @brief Decode a highres_imu message into a struct
+ *
+ * @param msg The message to decode
+ * @param highres_imu C-struct to decode the message contents into
+ */
+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->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);
+	highres_imu->xgyro = mavlink_msg_highres_imu_get_xgyro(msg);
+	highres_imu->ygyro = mavlink_msg_highres_imu_get_ygyro(msg);
+	highres_imu->zgyro = mavlink_msg_highres_imu_get_zgyro(msg);
+	highres_imu->xmag = mavlink_msg_highres_imu_get_xmag(msg);
+	highres_imu->ymag = mavlink_msg_highres_imu_get_ymag(msg);
+	highres_imu->zmag = mavlink_msg_highres_imu_get_zmag(msg);
+	highres_imu->abs_pressure = mavlink_msg_highres_imu_get_abs_pressure(msg);
+	highres_imu->diff_pressure = mavlink_msg_highres_imu_get_diff_pressure(msg);
+	highres_imu->pressure_alt = mavlink_msg_highres_imu_get_pressure_alt(msg);
+	highres_imu->temperature = mavlink_msg_highres_imu_get_temperature(msg);
+#else
+	memcpy(highres_imu, _MAV_PAYLOAD(msg), 60);
+#endif
+}

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

@@ -3715,6 +3715,75 @@ static void mavlink_test_vicon_position_estimate(uint8_t system_id, uint8_t comp
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_highres_imu(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_highres_imu_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,
+	};
+	mavlink_highres_imu_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.time_boot_ms = packet_in.time_boot_ms;
+        	packet1.xacc = packet_in.xacc;
+        	packet1.yacc = packet_in.yacc;
+        	packet1.zacc = packet_in.zacc;
+        	packet1.xgyro = packet_in.xgyro;
+        	packet1.ygyro = packet_in.ygyro;
+        	packet1.zgyro = packet_in.zgyro;
+        	packet1.xmag = packet_in.xmag;
+        	packet1.ymag = packet_in.ymag;
+        	packet1.zmag = packet_in.zmag;
+        	packet1.abs_pressure = packet_in.abs_pressure;
+        	packet1.diff_pressure = packet_in.diff_pressure;
+        	packet1.pressure_alt = packet_in.pressure_alt;
+        	packet1.temperature = packet_in.temperature;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_highres_imu_encode(system_id, component_id, &msg, &packet1);
+	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(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_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_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_highres_imu_decode(last_msg, &packet2);
+        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_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_memory_vect(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 	mavlink_message_t msg;
@@ -4072,6 +4141,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
 	mavlink_test_vision_position_estimate(system_id, component_id, last_msg);
 	mavlink_test_vision_speed_estimate(system_id, component_id, last_msg);
 	mavlink_test_vicon_position_estimate(system_id, component_id, last_msg);
+	mavlink_test_highres_imu(system_id, component_id, last_msg);
 	mavlink_test_memory_vect(system_id, component_id, last_msg);
 	mavlink_test_debug_vect(system_id, component_id, last_msg);
 	mavlink_test_named_value_float(system_id, component_id, last_msg);

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 "Thu Aug 23 16:39:58 2012"
+#define MAVLINK_BUILD_DATE "Mon Sep  3 14:56:15 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  

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 "Thu Aug 23 16:39:39 2012"
+#define MAVLINK_BUILD_DATE "Mon Sep  3 14:56:05 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

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 "Thu Aug 23 16:39:49 2012"
+#define MAVLINK_BUILD_DATE "Mon Sep  3 14:56:15 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101