autogenerated headers for rev https://github.com/Dronecode/air-iop-definitions/tree/67e4ebc74144246f292b8229798d7e4f7360ecd8

Author: DronecodeBot

MAVLinkPacket.java

@@ -702,6 +702,10 @@ public MAVLinkMessage unpack() {
                 return  new msg_available_modes(this);
                         case msg_current_mode.MAVLINK_MSG_ID_CURRENT_MODE:
                 return  new msg_current_mode(this);
+                        case msg_target_absolute.MAVLINK_MSG_ID_TARGET_ABSOLUTE:
+                return  new msg_target_absolute(this);
+                        case msg_target_relative.MAVLINK_MSG_ID_TARGET_RELATIVE:
+                return  new msg_target_relative(this);
                         case msg_wheel_distance.MAVLINK_MSG_ID_WHEEL_DISTANCE:
                 return  new msg_wheel_distance(this);
                         case msg_winch_status.MAVLINK_MSG_ID_WINCH_STATUS:

common/msg_command_ack.java

@@ -37,16 +37,16 @@ public class msg_command_ack extends MAVLinkMessage {
     public short result;
 
     /**
-     * Also used as result_param1, it can be set with an enum containing the errors reasons of why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (UINT8_MAX if the progress is unknown).
+     * The progress percentage when result is MAV_RESULT_IN_PROGRESS. Values: [0-100], or UINT8_MAX if the progress is unknown.
      */
-    @Description("Also used as result_param1, it can be set with an enum containing the errors reasons of why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (UINT8_MAX if the progress is unknown).")
-    @Units("")
+    @Description("The progress percentage when result is MAV_RESULT_IN_PROGRESS. Values: [0-100], or UINT8_MAX if the progress is unknown.")
+    @Units("%")
     public short progress;
 
     /**
-     * Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
+     * Additional result information. Can be set with a command-specific enum containing command-specific error reasons for why the command might be denied. If used, the associated enum must be documented in the corresponding MAV_CMD (this enum should have a 0 value to indicate 'unused' or 'unknown').
      */
-    @Description("Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.")
+    @Description("Additional result information. Can be set with a command-specific enum containing command-specific error reasons for why the command might be denied. If used, the associated enum must be documented in the corresponding MAV_CMD (this enum should have a 0 value to indicate 'unused' or 'unknown').")
     @Units("")
     public int result_param2;
 

common/msg_command_int.java

@@ -13,7 +13,7 @@
 import com.MAVLink.Messages.Description;
 
 /**
- * Send a command with up to seven parameters to the MAV, where params 5 and 6 are integers and the other values are floats. This is preferred over COMMAND_LONG when sending positional data in params 5 and 6, as it allows for greater precision when sending latitudes/longitudes. Param 5 and 6 encode positional data as scaled integers, where the scaling depends on the actual command value. NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). The command microservice is documented at https://mavlink.io/en/services/command.html
+ * Send a command with up to seven parameters to the MAV, where params 5 and 6 are integers and the other values are floats. This is preferred over COMMAND_LONG as it allows the MAV_FRAME to be specified for interpreting positional information, such as altitude. COMMAND_INT is also preferred when sending latitude and longitude data in params 5 and 6, as it allows for greater precision. Param 5 and 6 encode positional data as scaled integers, where the scaling depends on the actual command value. NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). The command microservice is documented at https://mavlink.io/en/services/command.html
  */
 public class msg_command_int extends MAVLinkMessage {
 

common/msg_command_long.java

@@ -13,7 +13,7 @@
 import com.MAVLink.Messages.Description;
 
 /**
- * Send a command with up to seven parameters to the MAV. COMMAND_INT is generally preferred when sending MAV_CMD commands where param 5 and param 6 contain latitude/longitude data, as sending these in floats can result in a significant loss of precision. COMMAND_LONG is required for commands that mandate float values in params 5 and 6. The command microservice is documented at https://mavlink.io/en/services/command.html
+ * Send a command with up to seven parameters to the MAV. COMMAND_INT is generally preferred when sending MAV_CMD commands that include positional information; it offers higher precision and allows the MAV_FRAME to be specified (which may otherwise be ambiguous, particularly for altitude). The command microservice is documented at https://mavlink.io/en/services/command.html
  */
 public class msg_command_long extends MAVLinkMessage {
 

common/msg_gimbal_manager_set_pitchyaw.java

@@ -13,7 +13,7 @@
 import com.MAVLink.Messages.Description;
 
 /**
- * High level message to control a gimbal's pitch and yaw angles. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
+ * Set gimbal manager pitch and yaw angles (high rate message). This message is to be sent to the gimbal manager (e.g. from a ground station) and will be ignored by gimbal devices. Angles and rates can be set to NaN according to use case. Use MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW for low-rate adjustments that require confirmation.
  */
 public class msg_gimbal_manager_set_pitchyaw extends MAVLinkMessage {
 

common/msg_mission_current.java

@@ -34,9 +34,9 @@ public class msg_mission_current extends MAVLinkMessage {
     public int seq;
 
     /**
-     * Total number of mission items. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.
+     * Total number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.
      */
-    @Description("Total number of mission items. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.")
+    @Description("Total number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.")
     @Units("")
     public int total;
 

development/CRC.java

@@ -240,8 +240,10 @@ public class CRC {
         MAVLINK_MESSAGE_CRCS.put(413, 77);
         MAVLINK_MESSAGE_CRCS.put(414, 109);
         MAVLINK_MESSAGE_CRCS.put(415, 161);
-        MAVLINK_MESSAGE_CRCS.put(435, 94);
-        MAVLINK_MESSAGE_CRCS.put(436, 151);
+        MAVLINK_MESSAGE_CRCS.put(435, 134);
+        MAVLINK_MESSAGE_CRCS.put(436, 193);
+        MAVLINK_MESSAGE_CRCS.put(510, 245);
+        MAVLINK_MESSAGE_CRCS.put(511, 28);
         MAVLINK_MESSAGE_CRCS.put(9000, 113);
         MAVLINK_MESSAGE_CRCS.put(9005, 117);
         MAVLINK_MESSAGE_CRCS.put(12900, 114);

development/msg_available_modes.java

@@ -23,7 +23,7 @@ Each modes should only be emitted once (even if it is both standard and custom).
 public class msg_available_modes extends MAVLinkMessage {
 
     public static final int MAVLINK_MSG_ID_AVAILABLE_MODES = 435;
-    public static final int MAVLINK_MSG_LENGTH = 58;
+    public static final int MAVLINK_MSG_LENGTH = 46;
     private static final long serialVersionUID = MAVLINK_MSG_ID_AVAILABLE_MODES;
 
 
@@ -34,6 +34,13 @@ public class msg_available_modes extends MAVLinkMessage {
     @Units("")
     public long custom_mode;
 
+    /**
+     * Mode properties.
+     */
+    @Description("Mode properties.")
+    @Units("")
+    public long properties;
+    
     /**
      * The total number of available modes for the current vehicle type.
      */
@@ -55,19 +62,12 @@ public class msg_available_modes extends MAVLinkMessage {
     @Units("")
     public short standard_mode;
 
-    /**
-     * System mode bitmap.
-     */
-    @Description("System mode bitmap.")
-    @Units("")
-    public short base_mode;
-    
     /**
      * Name of custom mode, with null termination character. Should be omitted for standard modes.
      */
     @Description("Name of custom mode, with null termination character. Should be omitted for standard modes.")
     @Units("")
-    public byte mode_name[] = new byte[50];
+    public byte mode_name[] = new byte[35];
 
 
     /**
@@ -82,10 +82,10 @@ public MAVLinkPacket pack() {
         packet.msgid = MAVLINK_MSG_ID_AVAILABLE_MODES;
 
         packet.payload.putUnsignedInt(custom_mode);
+        packet.payload.putUnsignedInt(properties);
         packet.payload.putUnsignedByte(number_modes);
         packet.payload.putUnsignedByte(mode_index);
         packet.payload.putUnsignedByte(standard_mode);
-        packet.payload.putUnsignedByte(base_mode);
 
         for (int i = 0; i < mode_name.length; i++) {
             packet.payload.putByte(mode_name[i]);
@@ -108,10 +108,10 @@ public void unpack(MAVLinkPayload payload) {
         payload.resetIndex();
 
         this.custom_mode = payload.getUnsignedInt();
+        this.properties = payload.getUnsignedInt();
         this.number_modes = payload.getUnsignedByte();
         this.mode_index = payload.getUnsignedByte();
         this.standard_mode = payload.getUnsignedByte();
-        this.base_mode = payload.getUnsignedByte();
 
         for (int i = 0; i < this.mode_name.length; i++) {
             this.mode_name[i] = payload.getByte();
@@ -133,32 +133,32 @@ public msg_available_modes() {
     /**
      * Constructor for a new message, initializes msgid and all payload variables
      */
-    public msg_available_modes( long custom_mode, short number_modes, short mode_index, short standard_mode, short base_mode, byte[] mode_name) {
+    public msg_available_modes( long custom_mode, long properties, short number_modes, short mode_index, short standard_mode, byte[] mode_name) {
         this.msgid = MAVLINK_MSG_ID_AVAILABLE_MODES;
 
         this.custom_mode = custom_mode;
+        this.properties = properties;
         this.number_modes = number_modes;
         this.mode_index = mode_index;
         this.standard_mode = standard_mode;
-        this.base_mode = base_mode;
         this.mode_name = mode_name;
 
     }
 
     /**
      * Constructor for a new message, initializes everything
      */
-    public msg_available_modes( long custom_mode, short number_modes, short mode_index, short standard_mode, short base_mode, byte[] mode_name, int sysid, int compid, boolean isMavlink2) {
+    public msg_available_modes( long custom_mode, long properties, short number_modes, short mode_index, short standard_mode, byte[] mode_name, int sysid, int compid, boolean isMavlink2) {
         this.msgid = MAVLINK_MSG_ID_AVAILABLE_MODES;
         this.sysid = sysid;
         this.compid = compid;
         this.isMavlink2 = isMavlink2;
 
         this.custom_mode = custom_mode;
+        this.properties = properties;
         this.number_modes = number_modes;
         this.mode_index = mode_index;
         this.standard_mode = standard_mode;
-        this.base_mode = base_mode;
         this.mode_name = mode_name;
 
     }
@@ -182,12 +182,12 @@ public msg_available_modes(MAVLinkPacket mavLinkPacket) {
     * Sets the buffer of this message with a string, adds the necessary padding
     */
     public void setMode_Name(String str) {
-        int len = Math.min(str.length(), 50);
+        int len = Math.min(str.length(), 35);
         for (int i=0; i<len; i++) {
             mode_name[i] = (byte) str.charAt(i);
         }
 
-        for (int i=len; i<50; i++) {            // padding for the rest of the buffer
+        for (int i=len; i<35; i++) {            // padding for the rest of the buffer
             mode_name[i] = 0;
         }
     }
@@ -197,7 +197,7 @@ public void setMode_Name(String str) {
     */
     public String getMode_Name() {
         StringBuffer buf = new StringBuffer();
-        for (int i = 0; i < 50; i++) {
+        for (int i = 0; i < 35; i++) {
             if (mode_name[i] != 0)
                 buf.append((char) mode_name[i]);
             else
@@ -212,7 +212,7 @@ public String getMode_Name() {
      */
     @Override
     public String toString() {
-        return "MAVLINK_MSG_ID_AVAILABLE_MODES - sysid:"+sysid+" compid:"+compid+" custom_mode:"+custom_mode+" number_modes:"+number_modes+" mode_index:"+mode_index+" standard_mode:"+standard_mode+" base_mode:"+base_mode+" mode_name:"+mode_name+"";
+        return "MAVLINK_MSG_ID_AVAILABLE_MODES - sysid:"+sysid+" compid:"+compid+" custom_mode:"+custom_mode+" properties:"+properties+" number_modes:"+number_modes+" mode_index:"+mode_index+" standard_mode:"+standard_mode+" mode_name:"+mode_name+"";
     }
 
     /**

development/msg_current_mode.java

@@ -21,7 +21,7 @@ This should be emitted on any mode change, and broadcast at low rate (nominally
 public class msg_current_mode extends MAVLinkMessage {
 
     public static final int MAVLINK_MSG_ID_CURRENT_MODE = 436;
-    public static final int MAVLINK_MSG_LENGTH = 6;
+    public static final int MAVLINK_MSG_LENGTH = 9;
     private static final long serialVersionUID = MAVLINK_MSG_ID_CURRENT_MODE;
 
 
@@ -33,18 +33,18 @@ public class msg_current_mode extends MAVLinkMessage {
     public long custom_mode;
 
     /**
-     * Standard mode.
+     * The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied
      */
-    @Description("Standard mode.")
+    @Description("The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied")
     @Units("")
-    public short standard_mode;
+    public long intended_custom_mode;
 
     /**
-     * System mode bitmap.
+     * Standard mode.
      */
-    @Description("System mode bitmap.")
+    @Description("Standard mode.")
     @Units("")
-    public short base_mode;
+    public short standard_mode;
 
 
     /**
@@ -59,8 +59,8 @@ public MAVLinkPacket pack() {
         packet.msgid = MAVLINK_MSG_ID_CURRENT_MODE;
 
         packet.payload.putUnsignedInt(custom_mode);
+        packet.payload.putUnsignedInt(intended_custom_mode);
         packet.payload.putUnsignedByte(standard_mode);
-        packet.payload.putUnsignedByte(base_mode);
 
         if (isMavlink2) {
 
@@ -78,8 +78,8 @@ public void unpack(MAVLinkPayload payload) {
         payload.resetIndex();
 
         this.custom_mode = payload.getUnsignedInt();
+        this.intended_custom_mode = payload.getUnsignedInt();
         this.standard_mode = payload.getUnsignedByte();
-        this.base_mode = payload.getUnsignedByte();
 
         if (isMavlink2) {
 
@@ -96,27 +96,27 @@ public msg_current_mode() {
     /**
      * Constructor for a new message, initializes msgid and all payload variables
      */
-    public msg_current_mode( long custom_mode, short standard_mode, short base_mode) {
+    public msg_current_mode( long custom_mode, long intended_custom_mode, short standard_mode) {
         this.msgid = MAVLINK_MSG_ID_CURRENT_MODE;
 
         this.custom_mode = custom_mode;
+        this.intended_custom_mode = intended_custom_mode;
         this.standard_mode = standard_mode;
-        this.base_mode = base_mode;
 
     }
 
     /**
      * Constructor for a new message, initializes everything
      */
-    public msg_current_mode( long custom_mode, short standard_mode, short base_mode, int sysid, int compid, boolean isMavlink2) {
+    public msg_current_mode( long custom_mode, long intended_custom_mode, short standard_mode, int sysid, int compid, boolean isMavlink2) {
         this.msgid = MAVLINK_MSG_ID_CURRENT_MODE;
         this.sysid = sysid;
         this.compid = compid;
         this.isMavlink2 = isMavlink2;
 
         this.custom_mode = custom_mode;
+        this.intended_custom_mode = intended_custom_mode;
         this.standard_mode = standard_mode;
-        this.base_mode = base_mode;
 
     }
 
@@ -140,7 +140,7 @@ public msg_current_mode(MAVLinkPacket mavLinkPacket) {
      */
     @Override
     public String toString() {
-        return "MAVLINK_MSG_ID_CURRENT_MODE - sysid:"+sysid+" compid:"+compid+" custom_mode:"+custom_mode+" standard_mode:"+standard_mode+" base_mode:"+base_mode+"";
+        return "MAVLINK_MSG_ID_CURRENT_MODE - sysid:"+sysid+" compid:"+compid+" custom_mode:"+custom_mode+" intended_custom_mode:"+intended_custom_mode+" standard_mode:"+standard_mode+"";
     }
 
     /**