Description

helper functions for the most common mavlink packets.

For use with the functions in mavlink_udp.h

Author: James Strawson & Henry Gaudet

Date: 1/24/2018

Functions
int	rc_mav_send_heartbeat_abbreviated (void)
	Constructs and sends a heartbeat packet of type MAVLINK_MSG_ID_HEARTBEAT. More...

int	rc_mav_send_heartbeat (uint32_t custom_mode, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint8_t system_status)
	Constructs and sends a heartbeat packet of type MAVLINK_MSG_ID_HEARTBEAT. More...

int	rc_mav_get_heartbeat (mavlink_heartbeat_t *data)
	fetches the most recently received heartbeat packet of type MAVLINK_MSG_ID_HEARTBEAT More...

int	rc_mav_send_attitude (float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
	Send and attitude packet of type MAVLINK_MSG_ID_ATTITUDE. More...

int	rc_mav_get_attitude (mavlink_attitude_t *data)
	Fetches the last attitude packet of type MAVLINK_MSG_ID_ATTITUDE. More...

int	rc_mav_send_attitude_quaternion (float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
	Packs and sends an attitude quaternion packet of type MAVLINK_MSG_ID_ATTITUDE_QUATERNION. More...

int	rc_mav_get_attitude_quaternion (mavlink_attitude_quaternion_t *data)
	Fetches and unpacks the last received MAVLINK_MSG_ID_ATTITUDE_QUATERNION. More...

int	rc_mav_send_local_position_ned (float x, float y, float z, float vx, float vy, float vz)
	Packs and sends a local position NED packet of type MAVLINK_MSG_ID_LOCAL_POSITION_NED. More...

int	rc_mav_get_local_position_ned (mavlink_local_position_ned_t *data)
	Fetches and unpacks the last received MAVLINK_MSG_ID_LOCAL_POSITION_NED. More...

int	rc_mav_send_global_position_int (int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
	Packs and sends a packet of type MAVLINK_MSG_ID_GLOBAL_POSITION_INT. More...

int	rc_mav_get_global_position_int (mavlink_global_position_int_t *data)
	Fetches and unpacks the last received MAVLINK_MSG_ID_GLOBAL_POSITION_INT. More...

int	rc_mav_send_set_position_target_local_ned (float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate, uint16_t type_mask, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame)
	Packs and sends a packet of type MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED. More...

int	rc_mav_get_set_position_target_local_ned (mavlink_set_position_target_local_ned_t *data)
	fetches and unpacks the most recently received packet of type MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED More...

int	rc_mav_send_set_position_target_global_int (int32_t lat_int, int32_t lon_int, float alt, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate, uint16_t type_mask, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame)
	Packs and sends a packet of type MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT. More...

int	rc_mav_get_set_position_target_global_int (mavlink_set_position_target_global_int_t *data)
	Fetches and unpacks the last received packet of type MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT. More...

int	rc_mav_send_gps_raw_int (int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t fix_type, uint8_t satellites_visible, int32_t alt_ellipsoid, uint32_t h_acc, uint32_t v_acc, uint32_t vel_acc, uint32_t hdg_acc)
	Packs and sends a packet of type MAVLINK_MSG_ID_GPS_RAW_INT. More...

int	rc_mav_get_gps_raw_int (mavlink_gps_raw_int_t *data)
	Fetches and unpacks a packet of type MAVLINK_MSG_ID_GPS_RAW_INT. More...

int	rc_mav_send_scaled_pressure (float press_abs, float press_diff, int16_t temperature)
	Packs and sends a packet of type MAVLINK_MSG_ID_SCALED_PRESSURE. More...

int	rc_mav_get_scaled_pressure (mavlink_scaled_pressure_t *data)
	Fetches and unpacks last received packet of type MAVLINK_MSG_ID_SCALED_PRESSURE. More...

int	rc_mav_send_servo_output_raw (uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw, uint8_t port, uint16_t servo9_raw, uint16_t servo10_raw, uint16_t servo11_raw, uint16_t servo12_raw, uint16_t servo13_raw, uint16_t servo14_raw, uint16_t servo15_raw, uint16_t servo16_raw)
	Packs and sends packet of type MAVLINK_MSG_ID_SERVO_OUTPUT_RAW. More...

int	rc_mav_get_servo_output_raw (mavlink_servo_output_raw_t *data)
	Fetch and unpack message of type MAVLINK_MSG_ID_SERVO_OUTPUT_RAW. More...

int	rc_mav_send_sys_status (uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4, int8_t battery_remaining)
	{ function_description } More...

int	rc_mav_get_sys_status (mavlink_sys_status_t *data)
	Fetch and unpack packet of type MAVLINK_MSG_ID_SERVO_OUTPUT_RAW. More...

int	rc_mav_send_manual_control (int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons, uint8_t target)
	Pack and send message of type MAVLINK_MSG_ID_MANUAL_CONTROL. More...

int	rc_mav_get_manual_control (mavlink_manual_control_t *data)
	Fetch and unpack the last received message of type MAVLINK_MSG_ID_MANUAL_CONTROL. More...

int	rc_mav_send_att_pos_mocap (float q[4], float x, float y, float z)
	Packs and send a message of type MAVLINK_MSG_ID_ATT_POS_MOCAP. More...

int	rc_mav_get_att_pos_mocap (mavlink_att_pos_mocap_t *data)
	Fetche and unpacks last received packet of type MAVLINK_MSG_ID_ATT_POS_MOCAP. More...

Function Documentation

◆ rc_mav_send_heartbeat_abbreviated()

int rc_mav_send_heartbeat_abbreviated ( void )

Constructs and sends a heartbeat packet of type MAVLINK_MSG_ID_HEARTBEAT.

This is a shortcut for rc_mav_send_heartbeat for those which don't wish to populate all of the availbale fields in the mavlink heartbeat packet. It still sends a complete heartbeat packet but with all 0's in the packet payload fields. The receiver can still see the system_id of the sender and this still serves the primary purpose to the heartbeat packet which is to indicate that a communication channel is open and functioning.

Returns: 0 on success or -1 on failure.

Examples:: rc_test_mavlink.c.

◆ rc_mav_send_heartbeat()

int rc_mav_send_heartbeat	(	uint32_t	custom_mode,
		uint8_t	type,
		uint8_t	autopilot,
		uint8_t	base_mode,
		uint8_t	system_status
	)

Constructs and sends a heartbeat packet of type MAVLINK_MSG_ID_HEARTBEAT.

Constructs and sends a heartbeat packet to the previously set destination ip address. The arguments encompass all available parameters in the heartbeat packet. However, many users will not be bothered to populate these parameters and may opt to use rc_mav_send_heartbeat_abbreviated() instead.

Parameters

[in]	custom_mode	A bitfield for use for autopilot-specific flags.
[in]	type	Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
[in]	autopilot	Autopilot type / class. defined in MAV_AUTOPILOT ENUM
[in]	base_mode	System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
[in]	system_status	System status flag, see MAV_STATE ENUM

Returns: 0 on success, -1 on failure

◆ rc_mav_get_heartbeat()

int rc_mav_get_heartbeat ( mavlink_heartbeat_t * data )

fetches the most recently received heartbeat packet of type MAVLINK_MSG_ID_HEARTBEAT

Parameters

[out] data pointer to put heartbeat packet data

Returns: 0 on success, -1 on failure for example if no message has been received of type msg_id.

◆ rc_mav_send_attitude()

int rc_mav_send_attitude	(	float	roll,
		float	pitch,
		float	yaw,
		float	rollspeed,
		float	pitchspeed,
		float	yawspeed
	)

Send and attitude packet of type MAVLINK_MSG_ID_ATTITUDE.

Parameters

[in]	roll	Roll angle (rad, -pi..+pi)
[in]	pitch	Pitch angle (rad, -pi..+pi)
[in]	yaw	Yaw angle (rad, -pi..+pi)
[in]	rollspeed	Roll angular speed (rad/s)
[in]	pitchspeed	Pitch angular speed (rad/s)
[in]	yawspeed	Yaw angular speed (rad/s)

Returns: 0 on success, -1 on failure

◆ rc_mav_get_attitude()

int rc_mav_get_attitude ( mavlink_attitude_t * data )

Fetches the last attitude packet of type MAVLINK_MSG_ID_ATTITUDE.

Parameters

[out] data Pointer to user's packet struct to be populated with new data

Returns: 0 on success, -1 on failure

◆ rc_mav_send_attitude_quaternion()

int rc_mav_send_attitude_quaternion	(	float	q1,
		float	q2,
		float	q3,
		float	q4,
		float	rollspeed,
		float	pitchspeed,
		float	yawspeed
	)

Packs and sends an attitude quaternion packet of type MAVLINK_MSG_ID_ATTITUDE_QUATERNION.

Parameters

[in]	q1	Quaternion component 1
[in]	q2	Quaternion component 2
[in]	q3	Quaternion component 3
[in]	q4	Quaternion component 4
[in]	rollspeed	Roll angular speed (rad/s)
[in]	pitchspeed	Pitch angular speed (rad/s)
[in]	yawspeed	Yaw angular speed (rad/s)

Returns: 0 on success, -1 on failure

◆ rc_mav_get_attitude_quaternion()

int rc_mav_get_attitude_quaternion ( mavlink_attitude_quaternion_t * data )

Fetches and unpacks the last received MAVLINK_MSG_ID_ATTITUDE_QUATERNION.

Parameters

[out] data Pointer to user's packet struct to be populated with new data

Returns: 0 on success, -1 on failure

◆ rc_mav_send_local_position_ned()

int rc_mav_send_local_position_ned	(	float	x,
		float	y,
		float	z,
		float	vx,
		float	vy,
		float	vz
	)

Packs and sends a local position NED packet of type MAVLINK_MSG_ID_LOCAL_POSITION_NED.

Parameters

[in]	x	X Position (meters)
[in]	y	Y Position (meters)
[in]	z	Z Position (meters)
[in]	vx	X Speed (m/s)
[in]	vy	Y Speed (m/s)
[in]	vz	Z Speed (m/s)

Returns: 0 on success, -1 on failure

◆ rc_mav_get_local_position_ned()

int rc_mav_get_local_position_ned ( mavlink_local_position_ned_t * data )

Fetches and unpacks the last received MAVLINK_MSG_ID_LOCAL_POSITION_NED.

Parameters

[out] data Pointer to user's packet struct to be populated with new data

Returns: 0 on success, -1 on failure

◆ rc_mav_send_global_position_int()

int rc_mav_send_global_position_int	(	int32_t	lat,
		int32_t	lon,
		int32_t	alt,
		int32_t	relative_alt,
		int16_t	vx,
		int16_t	vy,
		int16_t	vz,
		uint16_t	hdg
	)

Packs and sends a packet of type MAVLINK_MSG_ID_GLOBAL_POSITION_INT.

Parameters

[in]	lat	Latitude, expressed as * 1E7
[in]	lon	Longitude, expressed as * 1E7
[in]	alt	Altitude in meters, expressed as * 1000 (millimeters), above MSL
[in]	relative_alt	Altitude above ground in meters, expressed as * 1000 (millimeters)
[in]	vx	Ground X Speed (Latitude), expressed as m/s * 100
[in]	vy	Ground Y Speed (Longitude), expressed as m/s * 100
[in]	vz	Ground Z Speed (Altitude), expressed as m/s * 100
[in]	hdg	Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX

Returns: 0 on success, -1 on failure

◆ rc_mav_get_global_position_int()

int rc_mav_get_global_position_int ( mavlink_global_position_int_t * data )

Fetches and unpacks the last received MAVLINK_MSG_ID_GLOBAL_POSITION_INT.

Parameters

[out] data Pointer to user's packet struct to be populated with new data

Returns: 0 on success, -1 on failure

◆ rc_mav_send_set_position_target_local_ned()

int rc_mav_send_set_position_target_local_ned	(	float	x,
		float	y,
		float	z,
		float	vx,
		float	vy,
		float	vz,
		float	afx,
		float	afy,
		float	afz,
		float	yaw,
		float	yaw_rate,
		uint16_t	type_mask,
		uint8_t	target_system,
		uint8_t	target_component,
		uint8_t	coordinate_frame
	)

Packs and sends a packet of type MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED.

Parameters

[in]	x	X Position in NED frame in m
[in]	y	Y Position in NED frame in m
[in]	z	Z Position in NED frame in meters (note, altitude is negative in NED)
[in]	vx	X velocity in NED frame in m/s
[in]	vy	Y velocity in NED frame in m/s
[in]	vz	Z velocity in NED frame in m/s
[in]	afx	X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter/s^2 or N
[in]	afy	Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter/s^2 or N
[in]	afz	Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter/s^2 or N
[in]	yaw	yaw setpoint in rad
[in]	yaw_rate	yaw rate setpoint in rad/s
[in]	type_mask	Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
[in]	target_system	System ID of the target system
[in]	target_component	Component ID
[in]	coordinate_frame	Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9

Returns: 0 on success, -1 on failure

◆ rc_mav_get_set_position_target_local_ned()

int rc_mav_get_set_position_target_local_ned ( mavlink_set_position_target_local_ned_t * data )

fetches and unpacks the most recently received packet of type MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED

Parameters

[out] data Pointer to user's packet struct to be populated with new data

Returns: 0 on success, -1 on failure

◆ rc_mav_send_set_position_target_global_int()

int rc_mav_send_set_position_target_global_int	(	int32_t	lat_int,
		int32_t	lon_int,
		float	alt,
		float	vx,
		float	vy,
		float	vz,
		float	afx,
		float	afy,
		float	afz,
		float	yaw,
		float	yaw_rate,
		uint16_t	type_mask,
		uint8_t	target_system,
		uint8_t	target_component,
		uint8_t	coordinate_frame
	)

Packs and sends a packet of type MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT.

Parameters

[in]	lat_int	X Position in WGS84 frame in 1e7 * degrees
[in]	lon_int	Y Position in WGS84 frame in 1e7 * degrees
[in]	alt	Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
[in]	vx	X velocity in NED frame in m/s
[in]	vy	Y velocity in NED frame in m/s
[in]	vz	Z velocity in NED frame in m/s
[in]	afx	X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter/s^2 or N
[in]	afy	Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter/s^2 or N
[in]	afz	Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter/s^2 or N
[in]	yaw	yaw setpoint in rad
[in]	yaw_rate	yaw rate setpoint in rad/s
[in]	type_mask	Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
[in]	target_system	System ID
[in]	target_component	Component ID
[in]	coordinate_frame	Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11

Returns: 0 on success, -1 on failure

◆ rc_mav_get_set_position_target_global_int()

int rc_mav_get_set_position_target_global_int ( mavlink_set_position_target_global_int_t * data )

Fetches and unpacks the last received packet of type MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT.

Parameters

[out] data Pointer to user's packet struct to be populated with new data

Returns: 0 on success, -1 on failure

◆ rc_mav_send_gps_raw_int()

int rc_mav_send_gps_raw_int	(	int32_t	lat,
		int32_t	lon,
		int32_t	alt,
		uint16_t	eph,
		uint16_t	epv,
		uint16_t	vel,
		uint16_t	cog,
		uint8_t	fix_type,
		uint8_t	satellites_visible,
		int32_t	alt_ellipsoid,
		uint32_t	h_acc,
		uint32_t	v_acc,
		uint32_t	vel_acc,
		uint32_t	hdg_acc
	)

Packs and sends a packet of type MAVLINK_MSG_ID_GPS_RAW_INT.

Parameters

[in]	lat	Latitude (WGS84, EGM96 ellipsoid), in degrees * 1E7
[in]	lon	Longitude (WGS84, EGM96 ellipsoid), in degrees * 1E7
[in]	alt	Altitude (AMSL, NOT WGS84), in meters * 1000 (positive for up). Note that virtually all GPS modules provide the AMSL altitude in addition to the WGS84 altitude.
[in]	eph	GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
[in]	epv	GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
[in]	vel	GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
[in]	cog	Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
[in]	fix_type	See the GPS_FIX_TYPE enum.
[in]	satellites_visible	Number of satellites visible. If unknown, set to 255
[in]	alt_ellipsoid	Altitude (above WGS84, EGM96 ellipsoid), in meters * 1000 (positive for up).
[in]	h_acc	Position uncertainty in meters * 1000 (positive for up).
[in]	v_acc	Altitude uncertainty in meters * 1000 (positive for up).
[in]	vel_acc	Speed uncertainty in meters * 1000 (positive for up).
[in]	hdg_acc	Heading / track uncertainty in degrees * 1e5.

Returns: 0 on success, -1 on failure

◆ rc_mav_get_gps_raw_int()

int rc_mav_get_gps_raw_int ( mavlink_gps_raw_int_t * data )

Fetches and unpacks a packet of type MAVLINK_MSG_ID_GPS_RAW_INT.

Parameters

[out] data Pointer to user's packet struct to be populated with new data

Returns: 0 on success, -1 on failure

◆ rc_mav_send_scaled_pressure()

int rc_mav_send_scaled_pressure	(	float	press_abs,
		float	press_diff,
		int16_t	temperature
	)

Packs and sends a packet of type MAVLINK_MSG_ID_SCALED_PRESSURE.

Parameters

[in]	press_abs	Absolute pressure (hectopascal)
[in]	press_diff	Differential pressure 1 (hectopascal)
[in]	temperature	Temperature measurement (0.01 degrees celsius)

Returns: 0 on success, -1 on failure

◆ rc_mav_get_scaled_pressure()

int rc_mav_get_scaled_pressure ( mavlink_scaled_pressure_t * data )

Fetches and unpacks last received packet of type MAVLINK_MSG_ID_SCALED_PRESSURE.

Parameters

[out] data Pointer to user's packet struct to be populated with new data

Returns: 0 on success, -1 on failure

◆ rc_mav_send_servo_output_raw()

int rc_mav_send_servo_output_raw	(	uint16_t	servo1_raw,
		uint16_t	servo2_raw,
		uint16_t	servo3_raw,
		uint16_t	servo4_raw,
		uint16_t	servo5_raw,
		uint16_t	servo6_raw,
		uint16_t	servo7_raw,
		uint16_t	servo8_raw,
		uint8_t	port,
		uint16_t	servo9_raw,
		uint16_t	servo10_raw,
		uint16_t	servo11_raw,
		uint16_t	servo12_raw,
		uint16_t	servo13_raw,
		uint16_t	servo14_raw,
		uint16_t	servo15_raw,
		uint16_t	servo16_raw
	)

Packs and sends packet of type MAVLINK_MSG_ID_SERVO_OUTPUT_RAW.

Parameters

[in]	servo1_raw	Servo output 1 value, in microseconds
[in]	servo2_raw	Servo output 2 value, in microseconds
[in]	servo3_raw	Servo output 3 value, in microseconds
[in]	servo4_raw	Servo output 4 value, in microseconds
[in]	servo5_raw	Servo output 5 value, in microseconds
[in]	servo6_raw	Servo output 6 value, in microseconds
[in]	servo7_raw	Servo output 7 value, in microseconds
[in]	servo8_raw	Servo output 8 value, in microseconds
[in]	port	Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
[in]	servo9_raw	Servo output 9 value, in microseconds
[in]	servo10_raw	Servo output 10 value, in microseconds
[in]	servo11_raw	Servo output 11 value, in microseconds
[in]	servo12_raw	Servo output 12 value, in microseconds
[in]	servo13_raw	Servo output 13 value, in microseconds
[in]	servo14_raw	Servo output 14 value, in microseconds
[in]	servo15_raw	Servo output 15 value, in microseconds
[in]	servo16_raw	Servo output 16 value, in microseconds

Returns: 0 on success, -1 on failure

◆ rc_mav_get_servo_output_raw()

int rc_mav_get_servo_output_raw ( mavlink_servo_output_raw_t * data )

Fetch and unpack message of type MAVLINK_MSG_ID_SERVO_OUTPUT_RAW.

Parameters

[out] data Pointer to user's packet struct to be populated with new data

Returns: 0 on success, -1 on failure

◆ rc_mav_send_sys_status()

int rc_mav_send_sys_status	(	uint32_t	onboard_control_sensors_present,
		uint32_t	onboard_control_sensors_enabled,
		uint32_t	onboard_control_sensors_health,
		uint16_t	load,
		uint16_t	voltage_battery,
		int16_t	current_battery,
		uint16_t	drop_rate_comm,
		uint16_t	errors_comm,
		uint16_t	errors_count1,
		uint16_t	errors_count2,
		uint16_t	errors_count3,
		uint16_t	errors_count4,
		int8_t	battery_remaining
	)

{ function_description }

Parameters

[in]	onboard_control_sensors_present	Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
[in]	onboard_control_sensors_enabled	Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
[in]	onboard_control_sensors_health	Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
[in]	load	Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
[in]	voltage_battery	Battery voltage, in millivolts (1 = 1 millivolt)
[in]	current_battery	Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
[in]	drop_rate_comm	Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
[in]	errors_comm	Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
[in]	errors_count1	Autopilot-specific errors
[in]	errors_count2	Autopilot-specific errors
[in]	errors_count3	Autopilot-specific errors
[in]	errors_count4	Autopilot-specific errors
[in]	battery_remaining	Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery

Returns: 0 on success, -1 on failure

◆ rc_mav_get_sys_status()

int rc_mav_get_sys_status ( mavlink_sys_status_t * data )

Fetch and unpack packet of type MAVLINK_MSG_ID_SERVO_OUTPUT_RAW.

Parameters

[out] data Pointer to user's packet struct to be populated with new data

Returns: 0 on success, -1 on failure

◆ rc_mav_send_manual_control()

int rc_mav_send_manual_control	(	int16_t	x,
		int16_t	y,
		int16_t	z,
		int16_t	r,
		uint16_t	buttons,
		uint8_t	target
	)

Pack and send message of type MAVLINK_MSG_ID_MANUAL_CONTROL.

Parameters

[in]	x	X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
[in]	y	Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
[in]	z	Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
[in]	r	R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
[in]	buttons	A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
[in]	target	The system to be controlled.

Returns: 0 on success, -1 on failure

◆ rc_mav_get_manual_control()

int rc_mav_get_manual_control ( mavlink_manual_control_t * data )

Fetch and unpack the last received message of type MAVLINK_MSG_ID_MANUAL_CONTROL.

Parameters

[out] data Pointer to user's packet struct to be populated with new data

Returns: 0 on success, -1 on failure

◆ rc_mav_send_att_pos_mocap()

int rc_mav_send_att_pos_mocap	(	float	q[4],
		float	x,
		float	y,
		float	z
	)

Packs and send a message of type MAVLINK_MSG_ID_ATT_POS_MOCAP.

Parameters

	q	Attitude quaternion, w, x, y, z order, zero-rotation is (1,0,0,0)
[in]	x	X position in meters (NED)
[in]	y	Y position in meters (NED)
[in]	z	Z position in meters (NED)

Returns: 0 on success, -1 on failure

◆ rc_mav_get_att_pos_mocap()

int rc_mav_get_att_pos_mocap ( mavlink_att_pos_mocap_t * data )

Fetche and unpacks last received packet of type MAVLINK_MSG_ID_ATT_POS_MOCAP.

Parameters

[out] data Pointer to user's packet struct to be populated with new data

Returns: 0 on success, -1 on failure

Description

Functions

Function Documentation

◆ rc_mav_send_heartbeat_abbreviated()

◆ rc_mav_send_heartbeat()

◆ rc_mav_get_heartbeat()

◆ rc_mav_send_attitude()

◆ rc_mav_get_attitude()

◆ rc_mav_send_attitude_quaternion()

◆ rc_mav_get_attitude_quaternion()

◆ rc_mav_send_local_position_ned()

◆ rc_mav_get_local_position_ned()

◆ rc_mav_send_global_position_int()

◆ rc_mav_get_global_position_int()

◆ rc_mav_send_set_position_target_local_ned()

◆ rc_mav_get_set_position_target_local_ned()

◆ rc_mav_send_set_position_target_global_int()

◆ rc_mav_get_set_position_target_global_int()

◆ rc_mav_send_gps_raw_int()

◆ rc_mav_get_gps_raw_int()

◆ rc_mav_send_scaled_pressure()

◆ rc_mav_get_scaled_pressure()

◆ rc_mav_send_servo_output_raw()

◆ rc_mav_get_servo_output_raw()

◆ rc_mav_send_sys_status()

◆ rc_mav_get_sys_status()

◆ rc_mav_send_manual_control()

◆ rc_mav_get_manual_control()

◆ rc_mav_send_att_pos_mocap()

◆ rc_mav_get_att_pos_mocap()