Merge branch 'dev-win' into dev-winXbee

Conflicts:
	qgroundcontrol.pri

qgroundcontrol.pri

@@ -404,9 +404,9 @@ DEFINES += QGC_OSG_ENABLED
 	QMAKE_POST_LINK += $$quote(copy /Y "$$(QTDIR)\\bin\\QtWebKit4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
 	QMAKE_POST_LINK += $$quote(copy /Y "$$(QTDIR)\\bin\\QtXml4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
 	QMAKE_POST_LINK += $$quote(copy /Y "$$(QTDIR)\\bin\\QtXmlPatterns4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
-
+        QMAKE_POST_LINK += $$quote(del /F "$$TARGETDIR_WIN\\release\\qgroundcontrol.exp"$$escape_expand(\\n))
+        QMAKE_POST_LINK += $$quote(del /F "$$TARGETDIR_WIN\\release\\qgroundcontrol.lib"$$escape_expand(\\n))
     }
-
 }
 
 # Windows (32bit)

src/ui/QGCParamWidget.cc

@@ -676,7 +676,7 @@ void QGCParamWidget::retransmissionGuardTick()
  */
 void QGCParamWidget::requestParameterUpdate(int component, const QString& parameter)
 {
-
+    // FIXME - IMPLEMENT THIS!
 }
 
 

src/ui/map/Waypoint2DIcon.cc

@@ -12,6 +12,8 @@ Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMa
     showOrbit(false),
     color(Qt::red)
 {
+    Q_UNUSED(name);
+
     SetHeading(0);
     SetNumber(listindex);
     this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);

thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h

@@ -1,7 +1,7 @@
 /** @file
  *	@brief MAVLink comm protocol.
- *	@see http://pixhawk.ethz.ch/software/mavlink
+ *	@see http://qgroundcontrol.org/mavlink/
- *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
  */
 #ifndef ARDUPILOTMEGA_H
 #define ARDUPILOTMEGA_H
@@ -33,6 +33,13 @@ extern "C" {
 
 // MESSAGE DEFINITIONS
 
+
+
+// MESSAGE LENGTHS
+
+#undef MAVLINK_MESSAGE_LENGTHS
+#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
+
 #ifdef __cplusplus
 }
 #endif

thirdParty/mavlink/include/ardupilotmega/mavlink.h

@@ -1,7 +1,7 @@
 /** @file
  *	@brief MAVLink comm protocol.
  *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
  */
 #ifndef MAVLINK_H
 #define MAVLINK_H

thirdParty/mavlink/include/common/common.h

@@ -1,7 +1,7 @@
 /** @file
  *	@brief MAVLink comm protocol.
- *	@see http://pixhawk.ethz.ch/software/mavlink
+ *	@see http://qgroundcontrol.org/mavlink/
- *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
  */
 #ifndef COMMON_H
 #define COMMON_H
@@ -31,52 +31,62 @@ extern "C" {
 /** @brief  Commands to be executed by the MAV. They can be executed on user request,       or as part of a mission script. If the action is used in a mission, the parameter mapping       to the waypoint/mission message is as follows:       Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what       ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */
 enum MAV_CMD
 {
-	MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint.Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing)Acceptance radius in meters (if the sphere with this radius is hit, the waypoint counts as reached)0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.Desired yaw angle at waypoint (rotary wing)LatitudeLongitudeAltitude*/
+	MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. | Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing) | Acceptance radius in meters (if the sphere with this radius is hit, the waypoint counts as reached) | 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control. | Desired yaw angle at waypoint (rotary wing) | Latitude | Longitude | Altitude | */
-	MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of timeEmptyEmptyRadius around waypoint, in meters. If positive loiter clockwise, else counter-clockwiseDesired yaw angle.LatitudeLongitudeAltitude*/
+	MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time | Empty | Empty | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise | Desired yaw angle. | Latitude | Longitude | Altitude | */
-	MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turnsTurnsEmptyRadius around waypoint, in meters. If positive loiter clockwise, else counter-clockwiseDesired yaw angle.LatitudeLongitudeAltitude*/
+	MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns | Turns | Empty | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise | Desired yaw angle. | Latitude | Longitude | Altitude | */
-	MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X secondsSeconds (decimal)EmptyRadius around waypoint, in meters. If positive loiter clockwise, else counter-clockwiseDesired yaw angle.LatitudeLongitudeAltitude*/
+	MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds | Seconds (decimal) | Empty | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise | Desired yaw angle. | Latitude | Longitude | Altitude | */
-	MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch locationEmptyEmptyEmptyEmptyEmptyEmptyEmpty*/
+	MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */
-	MAV_CMD_NAV_LAND=21, /* Land at locationEmptyEmptyEmptyDesired yaw angle.LatitudeLongitudeAltitude*/
+	MAV_CMD_NAV_LAND=21, /* Land at location | Empty | Empty | Empty | Desired yaw angle. | Latitude | Longitude | Altitude | */
-	MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / handMinimum pitch (if airspeed sensor present), desired pitch without sensorEmptyEmptyYaw angle (if magnetometer present), ignored without magnetometerLatitudeLongitudeAltitude*/
+	MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand | Minimum pitch (if airspeed sensor present), desired pitch without sensor | Empty | Empty | Yaw angle (if magnetometer present), ignored without magnetometer | Latitude | Longitude | Altitude | */
-	MAV_CMD_NAV_ORIENTATION_TARGET=80, /* Set the location the system should be heading towards (camera heads or         rotary wing aircraft).EmptyEmptyEmptyEmptyLatitudeLongitudeAltitude*/
+	MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. | Region of intereset mode. (see MAV_ROI enum) | Waypoint index/ target ID. (see MAV_ROI enum) | ROI index (allows a vehicle to manage multiple ROI's) | Empty | x the location of the fixed ROI (see MAV_FRAME) | y | z | */
-	MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV.0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy gridEmptyYaw angle at goal, in compass degrees, [0..360]Latitude/X of goalLongitude/Y of goalAltitude/Z of goal*/
+	MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. | 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning | 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid | Empty | Yaw angle at goal, in compass degrees, [0..360] | Latitude/X of goal | Longitude/Y of goal | Altitude/Z of goal | */
-	MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumerationEmptyEmptyEmptyEmptyEmptyEmptyEmpty*/
+	MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */
-	MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine.Delay in seconds (decimal)EmptyEmptyEmptyEmptyEmptyEmpty*/
+	MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. | Delay in seconds (decimal) | Empty | Empty | Empty | Empty | Empty | Empty | */
-	MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached.Descent / Ascend rate (m/s)EmptyEmptyEmptyEmptyEmptyFinish Altitude*/
+	MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. | Descent / Ascend rate (m/s) | Empty | Empty | Empty | Empty | Empty | Finish Altitude | */
-	MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point.Distance (meters)EmptyEmptyEmptyEmptyEmptyEmpty*/
+	MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. | Distance (meters) | Empty | Empty | Empty | Empty | Empty | Empty | */
-	MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle.target angle: [0-360], 0 is northspeed during yaw change:[deg per second]direction: negative: counter clockwise, positive: clockwise [-1,1]relative offset or absolute angle: [ 1,0]EmptyEmptyEmpty*/
+	MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. | target angle: [0-360], 0 is north | speed during yaw change:[deg per second] | direction: negative: counter clockwise, positive: clockwise [-1,1] | relative offset or absolute angle: [ 1,0] | Empty | Empty | Empty | */
-	MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumerationEmptyEmptyEmptyEmptyEmptyEmptyEmpty*/
+	MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */
-	MAV_CMD_DO_SET_MODE=176, /* Set system mode.Mode, as defined by ENUM MAV_MODEEmptyEmptyEmptyEmptyEmptyEmpty*/
+	MAV_CMD_DO_SET_MODE=176, /* Set system mode. | Mode, as defined by ENUM MAV_MODE | Empty | Empty | Empty | Empty | Empty | Empty | */
-	MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of timesSequence numberRepeat countEmptyEmptyEmptyEmptyEmpty*/
+	MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times | Sequence number | Repeat count | Empty | Empty | Empty | Empty | Empty | */
-	MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points.Speed type (0=Airspeed, 1=Ground Speed)Speed  (m/s, -1 indicates no change)Throttle  ( Percent, -1 indicates no change)EmptyEmptyEmptyEmpty*/
+	MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. | Speed type (0=Airspeed, 1=Ground Speed) | Speed (m/s, -1 indicates no change) | Throttle ( Percent, -1 indicates no change) | Empty | Empty | Empty | Empty | */
-	MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location.Use current (1=use current location, 0=use specified location)EmptyEmptyEmptyLatitudeLongitudeAltitude*/
+	MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. | Use current (1=use current location, 0=use specified location) | Empty | Empty | Empty | Latitude | Longitude | Altitude | */
-	MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter.Parameter numberParameter valueEmptyEmptyEmptyEmptyEmpty*/
+	MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. | Parameter number | Parameter value | Empty | Empty | Empty | Empty | Empty | */
-	MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition.Relay numberSetting (1=on, 0=off, others possible depending on system hardware)EmptyEmptyEmptyEmptyEmpty*/
+	MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. | Relay number | Setting (1=on, 0=off, others possible depending on system hardware) | Empty | Empty | Empty | Empty | Empty | */
-	MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period.Relay numberCycle countCycle time (seconds, decimal)EmptyEmptyEmptyEmpty*/
+	MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. | Relay number | Cycle count | Cycle time (seconds, decimal) | Empty | Empty | Empty | Empty | */
-	MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value.Servo numberPWM (microseconds, 1000 to 2000 typical)EmptyEmptyEmptyEmptyEmpty*/
+	MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. | Servo number | PWM (microseconds, 1000 to 2000 typical) | Empty | Empty | Empty | Empty | Empty | */
-	MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.Servo numberPWM (microseconds, 1000 to 2000 typical)Cycle countCycle time (seconds)EmptyEmptyEmpty*/
+	MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. | Servo number | PWM (microseconds, 1000 to 2000 typical) | Cycle count | Cycle time (seconds) | Empty | Empty | Empty | */
-	MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system.Camera ID (-1 for all)Transmission: 0: disabled, 1: enabled compressed, 2: enabled rawTransmission mode: 0: video stream, >0: single images every n seconds (decimal)Recording: 0: disabled, 1: enabled compressed, 2: enabled rawEmptyEmptyEmpty*/
+	MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. | Camera ID (-1 for all) | Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw | Transmission mode: 0: video stream, >0: single images every n seconds (decimal) | Recording: 0: disabled, 1: enabled compressed, 2: enabled raw | Empty | Empty | Empty | */
-	MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumerationEmptyEmptyEmptyEmptyEmptyEmptyEmpty*/
+	MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */
-	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode.Gyro calibration: 0: no, 1: yesMagnetometer calibration: 0: no, 1: yesGround pressure: 0: no, 1: yesRadio calibration: 0: no, 1: yesEmptyEmptyEmpty*/
+	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. | Gyro calibration: 0: no, 1: yes | Magnetometer calibration: 0: no, 1: yes | Ground pressure: 0: no, 1: yes | Radio calibration: 0: no, 1: yes | Empty | Empty | Empty | */
-	MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROMMission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROMReservedReservedEmptyEmptyEmpty*/
+	MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. | Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM | Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM | Reserved | Reserved | Empty | Empty | Empty | */
 	MAV_CMD_ENUM_END
 };
 
 /** @brief  Data stream IDs. A data stream is not a fixed set of messages, but rather a      recommendation to the autopilot software. Individual autopilots may or may not obey      the recommended messages.       */
 enum MAV_DATA_STREAM
 {
-	MAV_DATA_STREAM_ALL=0, /* Enable all data streams*/
+	MAV_DATA_STREAM_ALL=0, /* Enable all data streams | */
-	MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.*/
+	MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. | */
-	MAV_DATA_STREAM_EXTENDED_STATUS=2, /* Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS*/
+	MAV_DATA_STREAM_EXTENDED_STATUS=2, /* Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS | */
-	MAV_DATA_STREAM_RC_CHANNELS=3, /* Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW*/
+	MAV_DATA_STREAM_RC_CHANNELS=3, /* Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW | */
-	MAV_DATA_STREAM_RAW_CONTROLLER=4, /* Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.*/
+	MAV_DATA_STREAM_RAW_CONTROLLER=4, /* Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. | */
-	MAV_DATA_STREAM_POSITION=6, /* Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.*/
+	MAV_DATA_STREAM_POSITION=6, /* Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. | */
-	MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot*/
+	MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot | */
-	MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot*/
+	MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot | */
-	MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot*/
+	MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot | */
 	MAV_DATA_STREAM_ENUM_END
 };
 
+/** @brief   The ROI (region of interest) for the vehicle. This can be       be used by the vehicle for camera/vehicle attitude alignment (see 	  MAV_CMD_NAV_ROI).       */
+enum MAV_ROI
+{
+	MAV_ROI_WPNEXT=0, /* Point toward next waypoint. | */
+	MAV_ROI_WPINDEX=1, /* Point toward given waypoint. | */
+	MAV_ROI_LOCATION=2, /* Point toward fixed location. | */
+	MAV_ROI_TARGET=3, /* Point toward of given id. | */
+	MAV_ROI_ENUM_END
+};
+
 
 // MESSAGE DEFINITIONS
 
@@ -143,6 +153,13 @@ enum MAV_DATA_STREAM
 #include "./mavlink_msg_named_value_int.h"
 #include "./mavlink_msg_statustext.h"
 #include "./mavlink_msg_debug.h"
+
+
+// MESSAGE LENGTHS
+
+#undef MAVLINK_MESSAGE_LENGTHS
+#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
+
 #ifdef __cplusplus
 }
 #endif

thirdParty/mavlink/include/common/mavlink.h

@@ -1,7 +1,7 @@
 /** @file
  *	@brief MAVLink comm protocol.
  *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
  */
 #ifndef MAVLINK_H
 #define MAVLINK_H

thirdParty/mavlink/include/mavlink_types.h

@@ -13,6 +13,7 @@ enum MAV_CLASS
 	MAV_CLASS_GENERIC_MISSION_WAYPOINTS_ONLY = 5,  ///< Generic autopilot only supporting simple waypoints
 	MAV_CLASS_GENERIC_MISSION_NAVIGATION_ONLY = 6, ///< Generic autopilot supporting waypoints and other simple navigation commands
 	MAV_CLASS_GENERIC_MISSION_FULL = 7,            ///< Generic autopilot supporting the full mission command set
+	MAV_CLASS_NONE = 8,           ///< No valid autopilot
 	MAV_CLASS_NB                  ///< Number of autopilot classes
 };
 
@@ -101,7 +102,8 @@ enum MAV_NAV
     MAV_NAV_RETURNING,
     MAV_NAV_LANDING,
     MAV_NAV_LOST,
-    MAV_NAV_LOITER
+    MAV_NAV_LOITER,
+	MAV_NAV_FREE_DRIFT
 };
 
 enum MAV_TYPE
@@ -112,7 +114,12 @@ enum MAV_TYPE
     MAV_COAXIAL = 3,
     MAV_HELICOPTER = 4,
     MAV_GROUND = 5,
-    OCU = 6
+    OCU = 6,
+	MAV_AIRSHIP = 7,
+	MAV_FREE_BALLOON = 8,
+	MAV_ROCKET = 9,
+	UGV_GROUND_ROVER = 10,
+	UGV_SURFACE_SHIP = 11
 };
 
 enum MAV_AUTOPILOT_TYPE
@@ -120,7 +127,8 @@ enum MAV_AUTOPILOT_TYPE
     MAV_AUTOPILOT_GENERIC = 0,
     MAV_AUTOPILOT_PIXHAWK = 1,
     MAV_AUTOPILOT_SLUGS = 2,
-    MAV_AUTOPILOT_ARDUPILOTMEGA = 3
+    MAV_AUTOPILOT_ARDUPILOTMEGA = 3,
+	MAV_AUTOPILOT_NONE = 4
 };
 
 enum MAV_COMPONENT
@@ -133,6 +141,8 @@ enum MAV_COMPONENT
     MAV_COMP_ID_MAPPER,
     MAV_COMP_ID_CAMERA,
     MAV_COMP_ID_IMU = 200,
+	MAV_COMP_ID_IMU_2 = 201,
+	MAV_COMP_ID_IMU_3 = 202,
     MAV_COMP_ID_UDP_BRIDGE = 240,
     MAV_COMP_ID_UART_BRIDGE = 241,
     MAV_COMP_ID_SYSTEM_CONTROL = 250
@@ -143,7 +153,19 @@ enum MAV_FRAME
     MAV_FRAME_GLOBAL = 0,
     MAV_FRAME_LOCAL = 1,
     MAV_FRAME_MISSION = 2,
-	MAV_FRAME_GLOBAL_RELATIVE_ALT = 3
+	MAV_FRAME_GLOBAL_RELATIVE_ALT = 3,
+        MAV_FRAME_LOCAL_ENU = 4
+};
+
+enum MAVLINK_DATA_STREAM_TYPE
+{
+    MAVLINK_DATA_STREAM_IMG_JPEG,
+	MAVLINK_DATA_STREAM_IMG_BMP,
+	MAVLINK_DATA_STREAM_IMG_RAW8U,
+	MAVLINK_DATA_STREAM_IMG_RAW32U,
+	MAVLINK_DATA_STREAM_IMG_PGM,
+	MAVLINK_DATA_STREAM_IMG_PNG
+	
 };
 
 #define MAVLINK_STX 0x55 ///< Packet start sign
@@ -165,6 +187,7 @@ typedef struct __mavlink_system {
     uint8_t type;    ///< Unused, can be used by user to store the system's type
     uint8_t state;   ///< Unused, can be used by user to store the system's state
     uint8_t mode;    ///< Unused, can be used by user to store the system's mode
+	uint8_t nav_mode;    ///< Unused, can be used by user to store the system's navigation mode
 } mavlink_system_t;
 
 typedef struct __mavlink_message {

thirdParty/mavlink/include/minimal/mavlink.h

@@ -0,0 +1,11 @@
+/** @file
+ *	@brief MAVLink comm protocol.
+ *	@see http://pixhawk.ethz.ch/software/mavlink
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
+ */
+#ifndef MAVLINK_H
+#define MAVLINK_H
+
+#include "minimal.h"
+
+#endif

thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h

@@ -0,0 +1,132 @@
+// MESSAGE HEARTBEAT PACKING
+
+#define MAVLINK_MSG_ID_HEARTBEAT 0
+
+typedef struct __mavlink_heartbeat_t 
+{
+	uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+	uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+	uint8_t mavlink_version; ///< MAVLink version
+
+} mavlink_heartbeat_t;
+
+
+
+/**
+ * @brief Pack a heartbeat 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 type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+ * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
+
+	i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+	i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+	i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a heartbeat message
+ * @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 type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+ * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint8_t autopilot)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
+
+	i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+	i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+	i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a heartbeat 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 heartbeat C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
+{
+	return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot);
+}
+
+/**
+ * @brief Send a heartbeat message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+ * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot)
+{
+	mavlink_message_t msg;
+	mavlink_msg_heartbeat_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, autopilot);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE HEARTBEAT UNPACKING
+
+/**
+ * @brief Get field type from heartbeat message
+ *
+ * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+ */
+static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload)[0];
+}
+
+/**
+ * @brief Get field autopilot from heartbeat message
+ *
+ * @return Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+ */
+static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field mavlink_version from heartbeat message
+ *
+ * @return MAVLink version
+ */
+static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Decode a heartbeat message into a struct
+ *
+ * @param msg The message to decode
+ * @param heartbeat C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
+{
+	heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
+	heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
+	heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
+}

thirdParty/mavlink/include/minimal/minimal.h

@@ -0,0 +1,45 @@
+/** @file
+ *	@brief MAVLink comm protocol.
+ *	@see http://qgroundcontrol.org/mavlink/
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
+ */
+#ifndef MINIMAL_H
+#define MINIMAL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+#include "../protocol.h"
+
+#define MAVLINK_ENABLED_MINIMAL
+
+// MAVLINK VERSION
+
+#ifndef MAVLINK_VERSION
+#define MAVLINK_VERSION 2
+#endif
+
+#if (MAVLINK_VERSION == 0)
+#undef MAVLINK_VERSION
+#define MAVLINK_VERSION 2
+#endif
+
+// ENUM DEFINITIONS
+
+
+// MESSAGE DEFINITIONS
+
+#include "./mavlink_msg_heartbeat.h"
+
+
+// MESSAGE LENGTHS
+
+#undef MAVLINK_MESSAGE_LENGTHS
+#define MAVLINK_MESSAGE_LENGTHS {  }
+
+#ifdef __cplusplus
+}
+#endif
+#endif

thirdParty/mavlink/include/pixhawk/mavlink.h

@@ -1,7 +1,7 @@
 /** @file
  *	@brief MAVLink comm protocol.
  *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
  */
 #ifndef MAVLINK_H
 #define MAVLINK_H

thirdParty/mavlink/include/pixhawk/mavlink_msg_image_available.h

@@ -24,6 +24,9 @@ typedef struct __mavlink_image_available_t
 	float lat; ///< GPS X coordinate
 	float lon; ///< GPS Y coordinate
 	float alt; ///< Global frame altitude
+	float ground_x; ///< Ground truth X
+	float ground_y; ///< Ground truth Y
+	float ground_z; ///< Ground truth Z
 
 } mavlink_image_available_t;
 
@@ -55,9 +58,12 @@ typedef struct __mavlink_image_available_t
  * @param lat GPS X coordinate
  * @param lon GPS Y coordinate
  * @param alt Global frame altitude
+ * @param ground_x Ground truth X
+ * @param ground_y Ground truth Y
+ * @param ground_z Ground truth Z
  * @return length of the message in bytes (excluding serial stream start sign)
  */
-static inline uint16_t mavlink_msg_image_available_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt)
+static inline uint16_t mavlink_msg_image_available_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
 {
 	uint16_t i = 0;
 	msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE;
@@ -82,6 +88,9 @@ static inline uint16_t mavlink_msg_image_available_pack(uint8_t system_id, uint8
 	i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate
 	i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate
 	i += put_float_by_index(alt, i, msg->payload); // Global frame altitude
+	i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X
+	i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y
+	i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z
 
 	return mavlink_finalize_message(msg, system_id, component_id, i);
 }
@@ -112,9 +121,12 @@ static inline uint16_t mavlink_msg_image_available_pack(uint8_t system_id, uint8
  * @param lat GPS X coordinate
  * @param lon GPS Y coordinate
  * @param alt Global frame altitude
+ * @param ground_x Ground truth X
+ * @param ground_y Ground truth Y
+ * @param ground_z Ground truth Z
  * @return length of the message in bytes (excluding serial stream start sign)
  */
-static inline uint16_t mavlink_msg_image_available_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt)
+static inline uint16_t mavlink_msg_image_available_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
 {
 	uint16_t i = 0;
 	msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE;
@@ -139,6 +151,9 @@ static inline uint16_t mavlink_msg_image_available_pack_chan(uint8_t system_id,
 	i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate
 	i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate
 	i += put_float_by_index(alt, i, msg->payload); // Global frame altitude
+	i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X
+	i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y
+	i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z
 
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
 }
@@ -153,7 +168,7 @@ static inline uint16_t mavlink_msg_image_available_pack_chan(uint8_t system_id,
  */
 static inline uint16_t mavlink_msg_image_available_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_available_t* image_available)
 {
-	return mavlink_msg_image_available_pack(system_id, component_id, msg, image_available->cam_id, image_available->cam_no, image_available->timestamp, image_available->valid_until, image_available->img_seq, image_available->img_buf_index, image_available->width, image_available->height, image_available->depth, image_available->channels, image_available->key, image_available->exposure, image_available->gain, image_available->roll, image_available->pitch, image_available->yaw, image_available->local_z, image_available->lat, image_available->lon, image_available->alt);
+	return mavlink_msg_image_available_pack(system_id, component_id, msg, image_available->cam_id, image_available->cam_no, image_available->timestamp, image_available->valid_until, image_available->img_seq, image_available->img_buf_index, image_available->width, image_available->height, image_available->depth, image_available->channels, image_available->key, image_available->exposure, image_available->gain, image_available->roll, image_available->pitch, image_available->yaw, image_available->local_z, image_available->lat, image_available->lon, image_available->alt, image_available->ground_x, image_available->ground_y, image_available->ground_z);
 }
 
 /**
@@ -180,13 +195,16 @@ static inline uint16_t mavlink_msg_image_available_encode(uint8_t system_id, uin
  * @param lat GPS X coordinate
  * @param lon GPS Y coordinate
  * @param alt Global frame altitude
+ * @param ground_x Ground truth X
+ * @param ground_y Ground truth Y
+ * @param ground_z Ground truth Z
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_image_available_send(mavlink_channel_t chan, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt)
+static inline void mavlink_msg_image_available_send(mavlink_channel_t chan, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
 {
 	mavlink_message_t msg;
-	mavlink_msg_image_available_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, cam_id, cam_no, timestamp, valid_until, img_seq, img_buf_index, width, height, depth, channels, key, exposure, gain, roll, pitch, yaw, local_z, lat, lon, alt);
+	mavlink_msg_image_available_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, cam_id, cam_no, timestamp, valid_until, img_seq, img_buf_index, width, height, depth, channels, key, exposure, gain, roll, pitch, yaw, local_z, lat, lon, alt, ground_x, ground_y, ground_z);
 	mavlink_send_uart(chan, &msg);
 }
 
@@ -490,6 +508,51 @@ static inline float mavlink_msg_image_available_get_alt(const mavlink_message_t*
 }
 
 /**
+ * @brief Get field ground_x from image_available message
+ *
+ * @return Ground truth X
+ */
+static inline float mavlink_msg_image_available_get_ground_x(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field ground_y from image_available message
+ *
+ * @return Ground truth Y
+ */
+static inline float mavlink_msg_image_available_get_ground_y(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field ground_z from image_available message
+ *
+ * @return Ground truth Z
+ */
+static inline float mavlink_msg_image_available_get_ground_z(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
  * @brief Decode a image_available message into a struct
  *
  * @param msg The message to decode
@@ -517,4 +580,7 @@ static inline void mavlink_msg_image_available_decode(const mavlink_message_t* m
 	image_available->lat = mavlink_msg_image_available_get_lat(msg);
 	image_available->lon = mavlink_msg_image_available_get_lon(msg);
 	image_available->alt = mavlink_msg_image_available_get_alt(msg);
+	image_available->ground_x = mavlink_msg_image_available_get_ground_x(msg);
+	image_available->ground_y = mavlink_msg_image_available_get_ground_y(msg);
+	image_available->ground_z = mavlink_msg_image_available_get_ground_z(msg);
 }

thirdParty/mavlink/include/pixhawk/mavlink_msg_image_triggered.h

@@ -13,6 +13,9 @@ typedef struct __mavlink_image_triggered_t
 	float lat; ///< GPS X coordinate
 	float lon; ///< GPS Y coordinate
 	float alt; ///< Global frame altitude
+	float ground_x; ///< Ground truth X
+	float ground_y; ///< Ground truth Y
+	float ground_z; ///< Ground truth Z
 
 } mavlink_image_triggered_t;
 
@@ -33,9 +36,12 @@ typedef struct __mavlink_image_triggered_t
  * @param lat GPS X coordinate
  * @param lon GPS Y coordinate
  * @param alt Global frame altitude
+ * @param ground_x Ground truth X
+ * @param ground_y Ground truth Y
+ * @param ground_z Ground truth Z
  * @return length of the message in bytes (excluding serial stream start sign)
  */
-static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt)
+static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
 {
 	uint16_t i = 0;
 	msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED;
@@ -49,6 +55,9 @@ static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8
 	i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate
 	i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate
 	i += put_float_by_index(alt, i, msg->payload); // Global frame altitude
+	i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X
+	i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y
+	i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z
 
 	return mavlink_finalize_message(msg, system_id, component_id, i);
 }
@@ -68,9 +77,12 @@ static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8
  * @param lat GPS X coordinate
  * @param lon GPS Y coordinate
  * @param alt Global frame altitude
+ * @param ground_x Ground truth X
+ * @param ground_y Ground truth Y
+ * @param ground_z Ground truth Z
  * @return length of the message in bytes (excluding serial stream start sign)
  */
-static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt)
+static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
 {
 	uint16_t i = 0;
 	msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED;
@@ -84,6 +96,9 @@ static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id,
 	i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate
 	i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate
 	i += put_float_by_index(alt, i, msg->payload); // Global frame altitude
+	i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X
+	i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y
+	i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z
 
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
 }
@@ -98,7 +113,7 @@ static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id,
  */
 static inline uint16_t mavlink_msg_image_triggered_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_triggered_t* image_triggered)
 {
-	return mavlink_msg_image_triggered_pack(system_id, component_id, msg, image_triggered->timestamp, image_triggered->seq, image_triggered->roll, image_triggered->pitch, image_triggered->yaw, image_triggered->local_z, image_triggered->lat, image_triggered->lon, image_triggered->alt);
+	return mavlink_msg_image_triggered_pack(system_id, component_id, msg, image_triggered->timestamp, image_triggered->seq, image_triggered->roll, image_triggered->pitch, image_triggered->yaw, image_triggered->local_z, image_triggered->lat, image_triggered->lon, image_triggered->alt, image_triggered->ground_x, image_triggered->ground_y, image_triggered->ground_z);
 }
 
 /**
@@ -114,13 +129,16 @@ static inline uint16_t mavlink_msg_image_triggered_encode(uint8_t system_id, uin
  * @param lat GPS X coordinate
  * @param lon GPS Y coordinate
  * @param alt Global frame altitude
+ * @param ground_x Ground truth X
+ * @param ground_y Ground truth Y
+ * @param ground_z Ground truth Z
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_image_triggered_send(mavlink_channel_t chan, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt)
+static inline void mavlink_msg_image_triggered_send(mavlink_channel_t chan, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
 {
 	mavlink_message_t msg;
-	mavlink_msg_image_triggered_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, timestamp, seq, roll, pitch, yaw, local_z, lat, lon, alt);
+	mavlink_msg_image_triggered_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, timestamp, seq, roll, pitch, yaw, local_z, lat, lon, alt, ground_x, ground_y, ground_z);
 	mavlink_send_uart(chan, &msg);
 }
 
@@ -267,6 +285,51 @@ static inline float mavlink_msg_image_triggered_get_alt(const mavlink_message_t*
 }
 
 /**
+ * @brief Get field ground_x from image_triggered message
+ *
+ * @return Ground truth X
+ */
+static inline float mavlink_msg_image_triggered_get_ground_x(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field ground_y from image_triggered message
+ *
+ * @return Ground truth Y
+ */
+static inline float mavlink_msg_image_triggered_get_ground_y(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field ground_z from image_triggered message
+ *
+ * @return Ground truth Z
+ */
+static inline float mavlink_msg_image_triggered_get_ground_z(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
  * @brief Decode a image_triggered message into a struct
  *
  * @param msg The message to decode
@@ -283,4 +346,7 @@ static inline void mavlink_msg_image_triggered_decode(const mavlink_message_t* m
 	image_triggered->lat = mavlink_msg_image_triggered_get_lat(msg);
 	image_triggered->lon = mavlink_msg_image_triggered_get_lon(msg);
 	image_triggered->alt = mavlink_msg_image_triggered_get_alt(msg);
+	image_triggered->ground_x = mavlink_msg_image_triggered_get_ground_x(msg);
+	image_triggered->ground_y = mavlink_msg_image_triggered_get_ground_y(msg);
+	image_triggered->ground_z = mavlink_msg_image_triggered_get_ground_z(msg);
 }

thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h

@@ -0,0 +1,176 @@
+// MESSAGE VISION_SPEED_ESTIMATE PACKING
+
+#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 113
+
+typedef struct __mavlink_vision_speed_estimate_t 
+{
+	uint64_t usec; ///< Timestamp (milliseconds)
+	float x; ///< Global X speed
+	float y; ///< Global Y speed
+	float z; ///< Global Z speed
+
+} mavlink_vision_speed_estimate_t;
+
+
+
+/**
+ * @brief Pack a vision_speed_estimate 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 usec Timestamp (milliseconds)
+ * @param x Global X speed
+ * @param y Global Y speed
+ * @param z Global Z speed
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float x, float y, float z)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
+
+	i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds)
+	i += put_float_by_index(x, i, msg->payload); // Global X speed
+	i += put_float_by_index(y, i, msg->payload); // Global Y speed
+	i += put_float_by_index(z, i, msg->payload); // Global Z speed
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a vision_speed_estimate message
+ * @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 usec Timestamp (milliseconds)
+ * @param x Global X speed
+ * @param y Global Y speed
+ * @param z Global Z speed
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float x, float y, float z)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
+
+	i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds)
+	i += put_float_by_index(x, i, msg->payload); // Global X speed
+	i += put_float_by_index(y, i, msg->payload); // Global Y speed
+	i += put_float_by_index(z, i, msg->payload); // Global Z speed
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a vision_speed_estimate 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 vision_speed_estimate C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_vision_speed_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
+{
+	return mavlink_msg_vision_speed_estimate_pack(system_id, component_id, msg, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z);
+}
+
+/**
+ * @brief Send a vision_speed_estimate message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X speed
+ * @param y Global Y speed
+ * @param z Global Z speed
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z)
+{
+	mavlink_message_t msg;
+	mavlink_msg_vision_speed_estimate_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE VISION_SPEED_ESTIMATE UNPACKING
+
+/**
+ * @brief Get field usec from vision_speed_estimate message
+ *
+ * @return Timestamp (milliseconds)
+ */
+static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_message_t* msg)
+{
+	generic_64bit r;
+	r.b[7] = (msg->payload)[0];
+	r.b[6] = (msg->payload)[1];
+	r.b[5] = (msg->payload)[2];
+	r.b[4] = (msg->payload)[3];
+	r.b[3] = (msg->payload)[4];
+	r.b[2] = (msg->payload)[5];
+	r.b[1] = (msg->payload)[6];
+	r.b[0] = (msg->payload)[7];
+	return (uint64_t)r.ll;
+}
+
+/**
+ * @brief Get field x from vision_speed_estimate message
+ *
+ * @return Global X speed
+ */
+static inline float mavlink_msg_vision_speed_estimate_get_x(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field y from vision_speed_estimate message
+ *
+ * @return Global Y speed
+ */
+static inline float mavlink_msg_vision_speed_estimate_get_y(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field z from vision_speed_estimate message
+ *
+ * @return Global Z speed
+ */
+static inline float mavlink_msg_vision_speed_estimate_get_z(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Decode a vision_speed_estimate message into a struct
+ *
+ * @param msg The message to decode
+ * @param vision_speed_estimate C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_vision_speed_estimate_decode(const mavlink_message_t* msg, mavlink_vision_speed_estimate_t* vision_speed_estimate)
+{
+	vision_speed_estimate->usec = mavlink_msg_vision_speed_estimate_get_usec(msg);
+	vision_speed_estimate->x = mavlink_msg_vision_speed_estimate_get_x(msg);
+	vision_speed_estimate->y = mavlink_msg_vision_speed_estimate_get_y(msg);
+	vision_speed_estimate->z = mavlink_msg_vision_speed_estimate_get_z(msg);
+}

thirdParty/mavlink/include/pixhawk/pixhawk.h

@@ -1,7 +1,7 @@
 /** @file
  *	@brief MAVLink comm protocol.
- *	@see http://pixhawk.ethz.ch/software/mavlink
+ *	@see http://qgroundcontrol.org/mavlink/
- *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
  */
 #ifndef PIXHAWK_H
 #define PIXHAWK_H
@@ -30,15 +30,6 @@ extern "C" {
 
 // ENUM DEFINITIONS
 
-/** @brief Slugs parameter interface subsets */
-enum SLUGS_PID_INDX_IDS
-{
-	PID_YAW_DAMPER=2,
-	PID_PITCH=3, /* With comment: PID Pitch parameter*/
-	PID_ALT_HOLD=50,
-	SLUGS_PID_INDX_IDS_ENUM_END
-};
-
 /** @brief  Content Types for data transmission handshake */
 enum DATA_TYPES
 {
@@ -58,6 +49,7 @@ enum DATA_TYPES
 #include "./mavlink_msg_image_available.h"
 #include "./mavlink_msg_vision_position_estimate.h"
 #include "./mavlink_msg_vicon_position_estimate.h"
+#include "./mavlink_msg_vision_speed_estimate.h"
 #include "./mavlink_msg_position_control_setpoint_set.h"
 #include "./mavlink_msg_position_control_offset_set.h"
 #include "./mavlink_msg_position_control_setpoint.h"
@@ -74,6 +66,13 @@ enum DATA_TYPES
 #include "./mavlink_msg_data_transmission_handshake.h"
 #include "./mavlink_msg_encapsulated_data.h"
 #include "./mavlink_msg_brief_feature.h"
+
+
+// MESSAGE LENGTHS
+
+#undef MAVLINK_MESSAGE_LENGTHS
+#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 0, 0, 32, 32, 20, 0, 0, 0, 0, 0, 0, 20, 18, 0, 0, 0, 0, 0, 0, 0, 0, 26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 12, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 18, 0, 0, 0, 0, 0, 106, 42, 54, 0, 0, 0, 0, 0, 0, 0, 8, 255, 53, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
+
 #ifdef __cplusplus
 }
 #endif

thirdParty/mavlink/include/slugs/mavlink.h

@@ -1,7 +1,7 @@
 /** @file
  *	@brief MAVLink comm protocol.
  *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
  */
 #ifndef MAVLINK_H
 #define MAVLINK_H

thirdParty/mavlink/include/slugs/slugs.h

@@ -1,7 +1,7 @@
 /** @file
  *	@brief MAVLink comm protocol.
- *	@see http://pixhawk.ethz.ch/software/mavlink
+ *	@see http://qgroundcontrol.org/mavlink/
- *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
  */
 #ifndef SLUGS_H
 #define SLUGS_H
@@ -43,6 +43,13 @@ extern "C" {
 #include "./mavlink_msg_mid_lvl_cmds.h"
 #include "./mavlink_msg_ctrl_srfc_pt.h"
 #include "./mavlink_msg_slugs_action.h"
+
+
+// MESSAGE LENGTHS
+
+#undef MAVLINK_MESSAGE_LENGTHS
+#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 10, 24, 18, 0, 0, 30, 24, 0, 7, 13, 3, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
+
 #ifdef __cplusplus
 }
 #endif

thirdParty/mavlink/include/ualberta/mavlink.h

@@ -1,7 +1,7 @@
 /** @file
  *	@brief MAVLink comm protocol.
  *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
  */
 #ifndef MAVLINK_H
 #define MAVLINK_H

thirdParty/mavlink/include/ualberta/mavlink_msg_radio_calibration.h

@@ -1,15 +1,15 @@
 // MESSAGE RADIO_CALIBRATION PACKING
 
-#define MAVLINK_MSG_ID_RADIO_CALIBRATION 222
+#define MAVLINK_MSG_ID_RADIO_CALIBRATION 221
 
 typedef struct __mavlink_radio_calibration_t 
 {
-	float aileron[3]; ///< Aileron setpoints: high, center, low
+	uint16_t aileron[3]; ///< Aileron setpoints: left, center, right
-	float elevator[3]; ///< Elevator setpoints: high, center, low
+	uint16_t elevator[3]; ///< Elevator setpoints: nose down, center, nose up
-	float rudder[3]; ///< Rudder setpoints: high, center, low
+	uint16_t rudder[3]; ///< Rudder setpoints: nose left, center, nose right
-	float gyro[2]; ///< Tail gyro mode/gain setpoints: heading hold, rate mode
+	uint16_t gyro[2]; ///< Tail gyro mode/gain setpoints: heading hold, rate mode
-	float pitch[5]; ///< Pitch curve setpoints (every 25%)
+	uint16_t pitch[5]; ///< Pitch curve setpoints (every 25%)
-	float throttle[5]; ///< Throttle curve setpoints (every 25%)
+	uint16_t throttle[5]; ///< Throttle curve setpoints (every 25%)
 
 } mavlink_radio_calibration_t;
 
@@ -27,25 +27,25 @@ typedef struct __mavlink_radio_calibration_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param aileron Aileron setpoints: high, center, low
+ * @param aileron Aileron setpoints: left, center, right
- * @param elevator Elevator setpoints: high, center, low
+ * @param elevator Elevator setpoints: nose down, center, nose up
- * @param rudder Rudder setpoints: high, center, low
+ * @param rudder Rudder setpoints: nose left, center, nose right
  * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode
  * @param pitch Pitch curve setpoints (every 25%)
  * @param throttle Throttle curve setpoints (every 25%)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
-static inline uint16_t mavlink_msg_radio_calibration_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const float* aileron, const float* elevator, const float* rudder, const float* gyro, const float* pitch, const float* throttle)
+static inline uint16_t mavlink_msg_radio_calibration_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle)
 {
 	uint16_t i = 0;
 	msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION;
 
-	i += put_array_by_index((const int8_t*)aileron, sizeof(float)*3, i, msg->payload); // Aileron setpoints: high, center, low
+	i += put_array_by_index((const int8_t*)aileron, sizeof(uint16_t)*3, i, msg->payload); // Aileron setpoints: left, center, right
-	i += put_array_by_index((const int8_t*)elevator, sizeof(float)*3, i, msg->payload); // Elevator setpoints: high, center, low
+	i += put_array_by_index((const int8_t*)elevator, sizeof(uint16_t)*3, i, msg->payload); // Elevator setpoints: nose down, center, nose up
-	i += put_array_by_index((const int8_t*)rudder, sizeof(float)*3, i, msg->payload); // Rudder setpoints: high, center, low
+	i += put_array_by_index((const int8_t*)rudder, sizeof(uint16_t)*3, i, msg->payload); // Rudder setpoints: nose left, center, nose right
-	i += put_array_by_index((const int8_t*)gyro, sizeof(float)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode
+	i += put_array_by_index((const int8_t*)gyro, sizeof(uint16_t)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode
-	i += put_array_by_index((const int8_t*)pitch, sizeof(float)*5, i, msg->payload); // Pitch curve setpoints (every 25%)
+	i += put_array_by_index((const int8_t*)pitch, sizeof(uint16_t)*5, i, msg->payload); // Pitch curve setpoints (every 25%)
-	i += put_array_by_index((const int8_t*)throttle, sizeof(float)*5, i, msg->payload); // Throttle curve setpoints (every 25%)
+	i += put_array_by_index((const int8_t*)throttle, sizeof(uint16_t)*5, i, msg->payload); // Throttle curve setpoints (every 25%)
 
 	return mavlink_finalize_message(msg, system_id, component_id, i);
 }
@@ -56,25 +56,25 @@ static inline uint16_t mavlink_msg_radio_calibration_pack(uint8_t system_id, uin
  * @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 aileron Aileron setpoints: high, center, low
+ * @param aileron Aileron setpoints: left, center, right
- * @param elevator Elevator setpoints: high, center, low
+ * @param elevator Elevator setpoints: nose down, center, nose up
- * @param rudder Rudder setpoints: high, center, low
+ * @param rudder Rudder setpoints: nose left, center, nose right
  * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode
  * @param pitch Pitch curve setpoints (every 25%)
  * @param throttle Throttle curve setpoints (every 25%)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
-static inline uint16_t mavlink_msg_radio_calibration_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const float* aileron, const float* elevator, const float* rudder, const float* gyro, const float* pitch, const float* throttle)
+static inline uint16_t mavlink_msg_radio_calibration_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle)
 {
 	uint16_t i = 0;
 	msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION;
 
-	i += put_array_by_index((const int8_t*)aileron, sizeof(float)*3, i, msg->payload); // Aileron setpoints: high, center, low
+	i += put_array_by_index((const int8_t*)aileron, sizeof(uint16_t)*3, i, msg->payload); // Aileron setpoints: left, center, right
-	i += put_array_by_index((const int8_t*)elevator, sizeof(float)*3, i, msg->payload); // Elevator setpoints: high, center, low
+	i += put_array_by_index((const int8_t*)elevator, sizeof(uint16_t)*3, i, msg->payload); // Elevator setpoints: nose down, center, nose up
-	i += put_array_by_index((const int8_t*)rudder, sizeof(float)*3, i, msg->payload); // Rudder setpoints: high, center, low
+	i += put_array_by_index((const int8_t*)rudder, sizeof(uint16_t)*3, i, msg->payload); // Rudder setpoints: nose left, center, nose right
-	i += put_array_by_index((const int8_t*)gyro, sizeof(float)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode
+	i += put_array_by_index((const int8_t*)gyro, sizeof(uint16_t)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode
-	i += put_array_by_index((const int8_t*)pitch, sizeof(float)*5, i, msg->payload); // Pitch curve setpoints (every 25%)
+	i += put_array_by_index((const int8_t*)pitch, sizeof(uint16_t)*5, i, msg->payload); // Pitch curve setpoints (every 25%)
-	i += put_array_by_index((const int8_t*)throttle, sizeof(float)*5, i, msg->payload); // Throttle curve setpoints (every 25%)
+	i += put_array_by_index((const int8_t*)throttle, sizeof(uint16_t)*5, i, msg->payload); // Throttle curve setpoints (every 25%)
 
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
 }
@@ -96,16 +96,16 @@ static inline uint16_t mavlink_msg_radio_calibration_encode(uint8_t system_id, u
  * @brief Send a radio_calibration message
  * @param chan MAVLink channel to send the message
  *
- * @param aileron Aileron setpoints: high, center, low
+ * @param aileron Aileron setpoints: left, center, right
- * @param elevator Elevator setpoints: high, center, low
+ * @param elevator Elevator setpoints: nose down, center, nose up
- * @param rudder Rudder setpoints: high, center, low
+ * @param rudder Rudder setpoints: nose left, center, nose right
  * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode
  * @param pitch Pitch curve setpoints (every 25%)
  * @param throttle Throttle curve setpoints (every 25%)
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_radio_calibration_send(mavlink_channel_t chan, const float* aileron, const float* elevator, const float* rudder, const float* gyro, const float* pitch, const float* throttle)
+static inline void mavlink_msg_radio_calibration_send(mavlink_channel_t chan, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle)
 {
 	mavlink_message_t msg;
 	mavlink_msg_radio_calibration_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, aileron, elevator, rudder, gyro, pitch, throttle);
@@ -118,37 +118,37 @@ static inline void mavlink_msg_radio_calibration_send(mavlink_channel_t chan, co
 /**
  * @brief Get field aileron from radio_calibration message
  *
- * @return Aileron setpoints: high, center, low
+ * @return Aileron setpoints: left, center, right
  */
-static inline uint16_t mavlink_msg_radio_calibration_get_aileron(const mavlink_message_t* msg, float* r_data)
+static inline uint16_t mavlink_msg_radio_calibration_get_aileron(const mavlink_message_t* msg, uint16_t* r_data)
 {
 
-	memcpy(r_data, msg->payload, sizeof(float)*3);
+	memcpy(r_data, msg->payload, sizeof(uint16_t)*3);
-	return sizeof(float)*3;
+	return sizeof(uint16_t)*3;
 }
 
 /**
  * @brief Get field elevator from radio_calibration message
  *
- * @return Elevator setpoints: high, center, low
+ * @return Elevator setpoints: nose down, center, nose up
  */
-static inline uint16_t mavlink_msg_radio_calibration_get_elevator(const mavlink_message_t* msg, float* r_data)
+static inline uint16_t mavlink_msg_radio_calibration_get_elevator(const mavlink_message_t* msg, uint16_t* r_data)
 {
 
-	memcpy(r_data, msg->payload+sizeof(float)*3, sizeof(float)*3);
+	memcpy(r_data, msg->payload+sizeof(uint16_t)*3, sizeof(uint16_t)*3);
-	return sizeof(float)*3;
+	return sizeof(uint16_t)*3;
 }
 
 /**
  * @brief Get field rudder from radio_calibration message
  *
- * @return Rudder setpoints: high, center, low
+ * @return Rudder setpoints: nose left, center, nose right
  */
-static inline uint16_t mavlink_msg_radio_calibration_get_rudder(const mavlink_message_t* msg, float* r_data)
+static inline uint16_t mavlink_msg_radio_calibration_get_rudder(const mavlink_message_t* msg, uint16_t* r_data)
 {
 
-	memcpy(r_data, msg->payload+sizeof(float)*3+sizeof(float)*3, sizeof(float)*3);
+	memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3, sizeof(uint16_t)*3);
-	return sizeof(float)*3;
+	return sizeof(uint16_t)*3;
 }
 
 /**
@@ -156,11 +156,11 @@ static inline uint16_t mavlink_msg_radio_calibration_get_rudder(const mavlink_me
  *
  * @return Tail gyro mode/gain setpoints: heading hold, rate mode
  */
-static inline uint16_t mavlink_msg_radio_calibration_get_gyro(const mavlink_message_t* msg, float* r_data)
+static inline uint16_t mavlink_msg_radio_calibration_get_gyro(const mavlink_message_t* msg, uint16_t* r_data)
 {
 
-	memcpy(r_data, msg->payload+sizeof(float)*3+sizeof(float)*3+sizeof(float)*3, sizeof(float)*2);
+	memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3, sizeof(uint16_t)*2);
-	return sizeof(float)*2;
+	return sizeof(uint16_t)*2;
 }
 
 /**
@@ -168,11 +168,11 @@ static inline uint16_t mavlink_msg_radio_calibration_get_gyro(const mavlink_mess
  *
  * @return Pitch curve setpoints (every 25%)
  */
-static inline uint16_t mavlink_msg_radio_calibration_get_pitch(const mavlink_message_t* msg, float* r_data)
+static inline uint16_t mavlink_msg_radio_calibration_get_pitch(const mavlink_message_t* msg, uint16_t* r_data)
 {
 
-	memcpy(r_data, msg->payload+sizeof(float)*3+sizeof(float)*3+sizeof(float)*3+sizeof(float)*2, sizeof(float)*5);
+	memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*2, sizeof(uint16_t)*5);
-	return sizeof(float)*5;
+	return sizeof(uint16_t)*5;
 }
 
 /**
@@ -180,11 +180,11 @@ static inline uint16_t mavlink_msg_radio_calibration_get_pitch(const mavlink_mes
  *
  * @return Throttle curve setpoints (every 25%)
  */
-static inline uint16_t mavlink_msg_radio_calibration_get_throttle(const mavlink_message_t* msg, float* r_data)
+static inline uint16_t mavlink_msg_radio_calibration_get_throttle(const mavlink_message_t* msg, uint16_t* r_data)
 {
 
-	memcpy(r_data, msg->payload+sizeof(float)*3+sizeof(float)*3+sizeof(float)*3+sizeof(float)*2+sizeof(float)*5, sizeof(float)*5);
+	memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*2+sizeof(uint16_t)*5, sizeof(uint16_t)*5);
-	return sizeof(float)*5;
+	return sizeof(uint16_t)*5;
 }
 
 /**

thirdParty/mavlink/include/ualberta/mavlink_msg_ualberta_sys_status.h

@@ -0,0 +1,135 @@
+// MESSAGE UALBERTA_SYS_STATUS PACKING
+
+#define MAVLINK_MSG_ID_UALBERTA_SYS_STATUS 222
+
+typedef struct __mavlink_ualberta_sys_status_t 
+{
+	uint8_t mode; ///< System mode, see UALBERTA_AUTOPILOT_MODE ENUM
+	uint8_t nav_mode; ///< Navigation mode, see UALBERTA_NAV_MODE ENUM
+	uint8_t pilot; ///< Pilot mode, see UALBERTA_PILOT_MODE
+
+} mavlink_ualberta_sys_status_t;
+
+
+
+/**
+ * @brief Pack a ualberta_sys_status 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 mode System mode, see UALBERTA_AUTOPILOT_MODE ENUM
+ * @param nav_mode Navigation mode, see UALBERTA_NAV_MODE ENUM
+ * @param pilot Pilot mode, see UALBERTA_PILOT_MODE
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ualberta_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t pilot)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_UALBERTA_SYS_STATUS;
+
+	i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see UALBERTA_AUTOPILOT_MODE ENUM
+	i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see UALBERTA_NAV_MODE ENUM
+	i += put_uint8_t_by_index(pilot, i, msg->payload); // Pilot mode, see UALBERTA_PILOT_MODE
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a ualberta_sys_status message
+ * @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 mode System mode, see UALBERTA_AUTOPILOT_MODE ENUM
+ * @param nav_mode Navigation mode, see UALBERTA_NAV_MODE ENUM
+ * @param pilot Pilot mode, see UALBERTA_PILOT_MODE
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ualberta_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t pilot)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_UALBERTA_SYS_STATUS;
+
+	i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see UALBERTA_AUTOPILOT_MODE ENUM
+	i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see UALBERTA_NAV_MODE ENUM
+	i += put_uint8_t_by_index(pilot, i, msg->payload); // Pilot mode, see UALBERTA_PILOT_MODE
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a ualberta_sys_status 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 ualberta_sys_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_ualberta_sys_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ualberta_sys_status_t* ualberta_sys_status)
+{
+	return mavlink_msg_ualberta_sys_status_pack(system_id, component_id, msg, ualberta_sys_status->mode, ualberta_sys_status->nav_mode, ualberta_sys_status->pilot);
+}
+
+/**
+ * @brief Send a ualberta_sys_status message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param mode System mode, see UALBERTA_AUTOPILOT_MODE ENUM
+ * @param nav_mode Navigation mode, see UALBERTA_NAV_MODE ENUM
+ * @param pilot Pilot mode, see UALBERTA_PILOT_MODE
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_ualberta_sys_status_send(mavlink_channel_t chan, uint8_t mode, uint8_t nav_mode, uint8_t pilot)
+{
+	mavlink_message_t msg;
+	mavlink_msg_ualberta_sys_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mode, nav_mode, pilot);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE UALBERTA_SYS_STATUS UNPACKING
+
+/**
+ * @brief Get field mode from ualberta_sys_status message
+ *
+ * @return System mode, see UALBERTA_AUTOPILOT_MODE ENUM
+ */
+static inline uint8_t mavlink_msg_ualberta_sys_status_get_mode(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload)[0];
+}
+
+/**
+ * @brief Get field nav_mode from ualberta_sys_status message
+ *
+ * @return Navigation mode, see UALBERTA_NAV_MODE ENUM
+ */
+static inline uint8_t mavlink_msg_ualberta_sys_status_get_nav_mode(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field pilot from ualberta_sys_status message
+ *
+ * @return Pilot mode, see UALBERTA_PILOT_MODE
+ */
+static inline uint8_t mavlink_msg_ualberta_sys_status_get_pilot(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Decode a ualberta_sys_status message into a struct
+ *
+ * @param msg The message to decode
+ * @param ualberta_sys_status C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_ualberta_sys_status_decode(const mavlink_message_t* msg, mavlink_ualberta_sys_status_t* ualberta_sys_status)
+{
+	ualberta_sys_status->mode = mavlink_msg_ualberta_sys_status_get_mode(msg);
+	ualberta_sys_status->nav_mode = mavlink_msg_ualberta_sys_status_get_nav_mode(msg);
+	ualberta_sys_status->pilot = mavlink_msg_ualberta_sys_status_get_pilot(msg);
+}

thirdParty/mavlink/include/ualberta/ualberta.h

@@ -1,7 +1,7 @@
 /** @file
  *	@brief MAVLink comm protocol.
- *	@see http://pixhawk.ethz.ch/software/mavlink
+ *	@see http://qgroundcontrol.org/mavlink/
- *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
  */
 #ifndef UALBERTA_H
 #define UALBERTA_H
@@ -30,12 +30,49 @@ extern "C" {
 
 // ENUM DEFINITIONS
 
+/** @brief  Available autopilot modes for ualberta uav */
+enum UALBERTA_AUTOPILOT_MODE
+{
+	MODE_MANUAL_DIRECT=0, /*  */
+	MODE_MANUAL_SCALED=1, /*  */
+	MODE_AUTO_PID_ATT=2, /*  */
+	MODE_AUTO_PID_VEL=3, /*  */
+	MODE_AUTO_PID_POS=4, /*  */
+	UALBERTA_AUTOPILOT_MODE_ENUM_END
+};
+
+/** @brief  Navigation filter mode */
+enum UALBERTA_NAV_MODE
+{
+	NAV_AHRS_INIT=0,
+	NAV_AHRS=1, /*  */
+	NAV_INS_GPS_INIT=2, /*  */
+	NAV_INS_GPS=3, /*  */
+	UALBERTA_NAV_MODE_ENUM_END
+};
+
+/** @brief  Mode currently commanded by pilot */
+enum UALBERTA_PILOT_MODE
+{
+	PILOT_MANUAL=0, /*  */
+	PILOT_AUTO=1, /*  */
+	PILOT_ROTO=2, /*  */
+	UALBERTA_PILOT_MODE_ENUM_END
+};
+
 
 // MESSAGE DEFINITIONS
 
 #include "./mavlink_msg_nav_filter_bias.h"
-#include "./mavlink_msg_request_rc_channels.h"
 #include "./mavlink_msg_radio_calibration.h"
+#include "./mavlink_msg_ualberta_sys_status.h"
+
+
+// MESSAGE LENGTHS
+
+#undef MAVLINK_MESSAGE_LENGTHS
+#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 32, 42, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
+
 #ifdef __cplusplus
 }
 #endif

thirdParty/mavlink/message_definitions/common.xml

@@ -79,17 +79,21 @@
         <param index="6">Longitude</param>
         <param index="7">Altitude</param>
         </entry>
-      <entry name="MAV_CMD_NAV_ORIENTATION_TARGET" value="80">
+
-        <description>Set the location the system should be heading towards (camera heads or
+      <entry name="MAV_CMD_NAV_ROI" value="80">
-        rotary wing aircraft).</description>
+        <description>Sets the region of interest (ROI) for a sensor set or the
-        <param index="1">Empty</param>
+            vehicle itself. This can then be used by the vehicles control
-        <param index="2">Empty</param>
+            system to control the vehicle attitude and the attitude of various
-        <param index="3">Empty</param>
+            sensors such as cameras.</description>
+        <param index="1">Region of intereset mode. (see MAV_ROI enum)</param>
+        <param index="2">Waypoint index/ target ID. (see MAV_ROI enum)</param>
+        <param index="3">ROI index (allows a vehicle to manage multiple ROI's)</param>
         <param index="4">Empty</param>
-        <param index="5">Latitude</param>
+        <param index="5">x the location of the fixed ROI (see MAV_FRAME)</param>
-        <param index="6">Longitude</param>
+        <param index="6">y</param>
-        <param index="7">Altitude</param>
+        <param index="7">z</param>
       </entry>
+
       <entry name="MAV_CMD_NAV_PATHPLANNING" value="81">
         <description>Control autonomous path planning on the MAV.</description>
         <param index="1">0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning</param>
@@ -306,6 +310,18 @@
      <entry name="MAV_DATA_STREAM_EXTRA2" value="11"><description>Dependent on the autopilot</description></entry>
      <entry name="MAV_DATA_STREAM_EXTRA3" value="12"><description>Dependent on the autopilot</description></entry>
    </enum>
+
+   <enum name="MAV_ROI">
+     <description> The ROI (region of interest) for the vehicle. This can be
+      be used by the vehicle for camera/vehicle attitude alignment (see
+	  MAV_CMD_NAV_ROI).
+     </description>
+     <entry name="MAV_ROI_WPNEXT" value="0"><description>Point toward next waypoint.</description></entry>
+     <entry name="MAV_ROI_WPINDEX" value="1"><description>Point toward given waypoint.</description></entry>
+     <entry name="MAV_ROI_LOCATION" value="2"><description>Point toward fixed location.</description></entry>
+     <entry name="MAV_ROI_TARGET" value="3"><description>Point toward of given id.</description></entry>
+   </enum>
+
 </enums>
 
 <messages>

thirdParty/mavlink/message_definitions/minimal.xml

@@ -0,0 +1,13 @@
+<?xml version='1.0'?>
+<mavlink>
+     <version>2</version>
+     <enums/>
+     <messages>
+          <message id="0" name="HEARTBEAT">
+               <description>The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot).</description>
+               <field type="uint8_t" name="type">Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)</field>
+               <field type="uint8_t" name="autopilot">Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM</field>
+               <field type="uint8_t_mavlink_version" name="mavlink_version">MAVLink version</field>
+          </message>
+     </messages>
+</mavlink>

thirdParty/mavlink/message_definitions/pixhawk.xml

@@ -3,18 +3,14 @@
 <include>common.xml</include>
 
 <enums>
-   <enum name="SLUGS_PID_INDX_IDS" >
-      <description>Slugs parameter interface subsets</description>
-      <entry name = "PID_YAW_DAMPER" value="2" />
-      <entry name = "PID_PITCH">With comment: PID Pitch parameter</entry>
-      <entry name = "PID_ALT_HOLD"  value="50" />
-   </enum>
-
    <enum name="DATA_TYPES">
       <description>Content Types for data transmission handshake</description>
-      <entry name = "DATA_TYPE_JPEG_IMAGE" value="1" />
+      <entry name = "DATA_TYPE_JPEG_IMAGE" value="1">
-      <entry name = "DATA_TYPE_RAW_IMAGE" value="2" />
+      </entry>
-      <entry name = "DATA_TYPE_KINECT" />
+      <entry name = "DATA_TYPE_RAW_IMAGE" value="2">
+      </entry>
+      <entry name = "DATA_TYPE_KINECT" value="3">
+      </entry>
    </enum>
 </enums>
 
@@ -50,6 +46,9 @@
      <field name="lat" type="float">GPS X coordinate</field>
      <field name="lon" type="float">GPS Y coordinate</field>
      <field name="alt" type="float">Global frame altitude</field>
+     <field name="ground_x" type="float">Ground truth X</field>
+     <field name="ground_y" type="float">Ground truth Y</field>
+     <field name="ground_z" type="float">Ground truth Z</field>
    </message>
 
    <message name="IMAGE_TRIGGER_CONTROL" id="102">
@@ -77,6 +76,9 @@
      <field name="lat" type="float">GPS X coordinate</field>
      <field name="lon" type="float">GPS Y coordinate</field>
      <field name="alt" type="float">Global frame altitude</field>
+     <field name="ground_x" type="float">Ground truth X</field>
+     <field name="ground_y" type="float">Ground truth Y</field>
+     <field name="ground_z" type="float">Ground truth Z</field>
    </message>
 
    <message name="VISION_POSITION_ESTIMATE" id="111">
@@ -99,6 +101,13 @@
      <field name="yaw" type="float">Yaw angle in rad</field>
    </message>
 
+   <message name="VISION_SPEED_ESTIMATE" id="113">
+     <field name="usec" type="uint64_t">Timestamp (milliseconds)</field>
+     <field name="x"   type="float">Global X speed</field>
+     <field name="y"   type="float">Global Y speed</field>
+     <field name="z"   type="float">Global Z speed</field>
+   </message>
+
    <message name="POSITION_CONTROL_SETPOINT_SET" id="120">
      <description>Message sent to the MAV to set a new position as reference for the controller</description>
      <field name="target_system" type="uint8_t">System ID</field>

thirdParty/mavlink/message_definitions/ualberta.xml

@@ -1,29 +1,54 @@
-<?xml version="1.0"?>
+<?xml version='1.0'?>
 <mavlink>
      <include>common.xml</include>
+     <enums>
+          <enum name="UALBERTA_AUTOPILOT_MODE">
+               <description>Available autopilot modes for ualberta uav</description>
+               <entry name="MODE_MANUAL_DIRECT">Raw input pulse widts sent to output</entry>
+               <entry name="MODE_MANUAL_SCALED">Inputs are normalized using calibration, the converted back to raw pulse widths for output</entry>
+               <entry name="MODE_AUTO_PID_ATT"> dfsdfs</entry>
+               <entry name="MODE_AUTO_PID_VEL"> dfsfds</entry>
+               <entry name="MODE_AUTO_PID_POS"> dfsdfsdfs</entry>
+          </enum>
+          <enum name="UALBERTA_NAV_MODE">
+               <description>Navigation filter mode</description>
+               <entry name="NAV_AHRS_INIT" />
+               <entry name="NAV_AHRS">AHRS mode</entry>
+               <entry name="NAV_INS_GPS_INIT">INS/GPS initialization mode</entry>
+               <entry name="NAV_INS_GPS">INS/GPS mode</entry>
+          </enum>
+          <enum name="UALBERTA_PILOT_MODE">
+               <description>Mode currently commanded by pilot</description>
+               <entry name="PILOT_MANUAL"> sdf</entry>
+               <entry name="PILOT_AUTO"> dfs</entry>
+               <entry name="PILOT_ROTO"> Rotomotion mode </entry>
+          </enum>
+     </enums>
      <messages>
-    <message name="NAV_FILTER_BIAS" id="220">
+          <message id="220" name="NAV_FILTER_BIAS">
                <description>Accelerometer and Gyro biases from the navigation filter</description>
-      <field name="usec" type="uint64_t">Timestamp (microseconds)</field>
+               <field type="uint64_t" name="usec">Timestamp (microseconds)</field>
-      <field name="accel_0" type="float">b_f[0]</field>
+               <field type="float" name="accel_0">b_f[0]</field>
-      <field name="accel_1" type="float">b_f[1]</field>
+               <field type="float" name="accel_1">b_f[1]</field>
-      <field name="accel_2" type="float">b_f[2]</field>
+               <field type="float" name="accel_2">b_f[2]</field>
-      <field name="gyro_0" type="float">b_f[0]</field>
+               <field type="float" name="gyro_0">b_f[0]</field>
-      <field name="gyro_1" type="float">b_f[1]</field>
+               <field type="float" name="gyro_1">b_f[1]</field>
-      <field name="gyro_2" type="float">b_f[2]</field>
+               <field type="float" name="gyro_2">b_f[2]</field>
           </message>
-    <message name="REQUEST_RC_CHANNELS" id="221">
+          <message id="221" name="RADIO_CALIBRATION">
-      <description>Request raw and normalized rc data from the UAV</description>
-      <field name="enabled" type="uint8_t">True: start sending data; False: stop sending data</field>
-    </message>
-    <message name="RADIO_CALIBRATION" id="222">
                <description>Complete set of calibration parameters for the radio</description>
-      <field name="aileron" type="float[3]">Aileron setpoints: high, center, low</field>
+               <field type="uint16_t[3]" name="aileron">Aileron setpoints: left, center, right</field>
-      <field name="elevator" type="float[3]">Elevator setpoints: high, center, low</field>
+               <field type="uint16_t[3]" name="elevator">Elevator setpoints: nose down, center, nose up</field>
-      <field name="rudder" type="float[3]">Rudder setpoints: high, center, low</field>
+               <field type="uint16_t[3]" name="rudder">Rudder setpoints: nose left, center, nose right</field>
-      <field name="gyro" type="float[2]">Tail gyro mode/gain setpoints: heading hold, rate mode</field>
+               <field type="uint16_t[2]" name="gyro">Tail gyro mode/gain setpoints: heading hold, rate mode</field>
-      <field name="pitch" type="float[5]">Pitch curve setpoints (every 25%)</field>
+               <field type="uint16_t[5]" name="pitch">Pitch curve setpoints (every 25%)</field>
-      <field name="throttle" type="float[5]">Throttle curve setpoints (every 25%)</field>
+               <field type="uint16_t[5]" name="throttle">Throttle curve setpoints (every 25%)</field>
+          </message>
+          <message id="222" name="UALBERTA_SYS_STATUS">
+               <description>System status specific to ualberta uav</description>
+               <field type="uint8_t" name="mode">System mode, see UALBERTA_AUTOPILOT_MODE ENUM</field>
+               <field type="uint8_t" name="nav_mode">Navigation mode, see UALBERTA_NAV_MODE ENUM</field>
+               <field type="uint8_t" name="pilot">Pilot mode, see UALBERTA_PILOT_MODE</field>
           </message>
      </messages>
 </mavlink>