/**
* Generates the payload for a mavlink message for a message of this type
*
* @return
*/
public MAVLinkPacket pack() {
MAVLinkPacket packet = new MAVLinkPacket();
packet.len = MAVLINK_MSG_LENGTH;
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_LANDING_TARGET;
packet.payload.putUnsignedLong(time_usec);
packet.payload.putFloat(angle_x);
packet.payload.putFloat(angle_y);
packet.payload.putFloat(distance);
packet.payload.putFloat(size_x);
packet.payload.putFloat(size_y);
packet.payload.putUnsignedByte(target_num);
packet.payload.putUnsignedByte(frame);
return packet;
}
/**
* Generates the payload for a mavlink message for a message of this type
* @return
*/
public MAVLinkPacket pack(){
MAVLinkPacket packet = new MAVLinkPacket();
packet.len = MAVLINK_MSG_LENGTH;
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
packet.payload.putUnsignedInt(time_boot_ms);
packet.payload.putInt(lat);
packet.payload.putInt(lon);
packet.payload.putInt(alt);
packet.payload.putInt(relative_alt);
packet.payload.putShort(vx);
packet.payload.putShort(vy);
packet.payload.putShort(vz);
packet.payload.putUnsignedShort(hdg);
return packet;
}
/**
* Generates the payload for a mavlink message for a message of this type
* @return
*/
public MAVLinkPacket pack(){
MAVLinkPacket packet = new MAVLinkPacket();
packet.len = MAVLINK_MSG_LENGTH;
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_HOME_POSITION;
packet.payload.putInt(latitude);
packet.payload.putInt(longitude);
packet.payload.putInt(altitude);
packet.payload.putFloat(x);
packet.payload.putFloat(y);
packet.payload.putFloat(z);
for (int i = 0; i < q.length; i++) {
packet.payload.putFloat(q[i]);
}
packet.payload.putFloat(approach_x);
packet.payload.putFloat(approach_y);
packet.payload.putFloat(approach_z);
return packet;
}
/**
* Generates the payload for a mavlink message for a message of this type
* @return
*/
public MAVLinkPacket pack(){
MAVLinkPacket packet = new MAVLinkPacket();
packet.len = MAVLINK_MSG_LENGTH;
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_SERIAL_CONTROL;
packet.payload.putUnsignedInt(baudrate);
packet.payload.putUnsignedShort(timeout);
packet.payload.putUnsignedByte(device);
packet.payload.putUnsignedByte(flags);
packet.payload.putUnsignedByte(count);
for (int i = 0; i < data.length; i++) {
packet.payload.putUnsignedByte(data[i]);
}
return packet;
}
@Test
public void test() {
byte[] packet = generateTestPacket();
for (int i = 0; i < packet.length - 1; i++) {
parser.mavlink_parse_char(packet[i] & 0xFF);
}
MAVLinkPacket m = parser.mavlink_parse_char(packet[packet.length - 1] & 0xFF);
byte[] processedPacket = m.encodePacket();
assertArrayEquals("msg_servo_output_raw", processedPacket, packet);
}
/**
* Generates the payload for a mavlink message for a message of this type
* @return
*/
public MAVLinkPacket pack(){
MAVLinkPacket packet = new MAVLinkPacket();
packet.len = MAVLINK_MSG_LENGTH;
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_MISSION_ITEM_REACHED;
packet.payload.putUnsignedShort(seq);
return packet;
}
/**
* Generates the payload for a mavlink message for a message of this type
*
* @return
*/
public MAVLinkPacket pack() {
MAVLinkPacket packet = new MAVLinkPacket();
packet.len = MAVLINK_MSG_LENGTH;
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_AUTH_KEY;
for (int i = 0; i < key.length; i++) {
packet.payload.putByte(key[i]);
}
return packet;
}
/**
* Generates the payload for a mavlink message for a message of this type
*
* @return
*/
public MAVLinkPacket pack() {
MAVLinkPacket packet = new MAVLinkPacket();
packet.len = MAVLINK_MSG_LENGTH;
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_WIND;
packet.payload.putFloat(direction);
packet.payload.putFloat(speed);
packet.payload.putFloat(speed_z);
return packet;
}
/**
* Generates the payload for a mavlink message for a message of this type
*
* @return
*/
public MAVLinkPacket pack() {
MAVLinkPacket packet = new MAVLinkPacket(MAVLINK_MSG_LENGTH);
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_MEMINFO;
packet.payload.putUnsignedShort(brkval);
packet.payload.putUnsignedShort(freemem);
return packet;
}
/**
* Generates the payload for a mavlink message for a message of this type
*
* @return
*/
public MAVLinkPacket pack() {
MAVLinkPacket packet = new MAVLinkPacket();
packet.len = MAVLINK_MSG_LENGTH;
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_HWSTATUS;
packet.payload.putUnsignedShort(Vcc);
packet.payload.putUnsignedByte(I2Cerr);
return packet;
}
/**
* Generates the payload for a mavlink message for a message of this type
*
* @return
*/
public MAVLinkPacket pack() {
MAVLinkPacket packet = new MAVLinkPacket();
packet.len = MAVLINK_MSG_LENGTH;
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_RANGEFINDER;
packet.payload.putFloat(distance);
packet.payload.putFloat(voltage);
return packet;
}
/**
* Generates the payload for a mavlink message for a message of this type
*
* @return
*/
public MAVLinkPacket pack() {
MAVLinkPacket packet = new MAVLinkPacket(MAVLINK_MSG_LENGTH);
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_GIMBAL_AXIS_CALIBRATION_PROGRESS;
packet.payload.putUnsignedByte(calibration_axis);
packet.payload.putUnsignedByte(calibration_progress);
packet.payload.putUnsignedByte(calibration_status);
return packet;
}
/**
* Generates the payload for a mavlink message for a message of this type
*
* @return
*/
public MAVLinkPacket pack() {
MAVLinkPacket packet = new MAVLinkPacket();
packet.len = MAVLINK_MSG_LENGTH;
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_GPS_INJECT_DATA;
packet.payload.putByte(target_system);
packet.payload.putByte(target_component);
packet.payload.putByte(len);
for (int i = 0; i < data.length; i++) {
packet.payload.putByte(data[i]);
}
return packet;
}
/**
* Generates the payload for a mavlink message for a message of this type
*
* @return
*/
public MAVLinkPacket pack() {
MAVLinkPacket packet = new MAVLinkPacket(MAVLINK_MSG_LENGTH);
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
packet.payload.putShort(mag_ofs_x);
packet.payload.putShort(mag_ofs_y);
packet.payload.putShort(mag_ofs_z);
packet.payload.putUnsignedByte(target_system);
packet.payload.putUnsignedByte(target_component);
return packet;
}
/**
* Generates the payload for a mavlink message for a message of this type
*
* @return
*/
public MAVLinkPacket pack() {
MAVLinkPacket packet = new MAVLinkPacket();
packet.len = MAVLINK_MSG_LENGTH;
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE;
packet.payload.putUnsignedLong(usec);
packet.payload.putFloat(x);
packet.payload.putFloat(y);
packet.payload.putFloat(z);
packet.payload.putFloat(roll);
packet.payload.putFloat(pitch);
packet.payload.putFloat(yaw);
return packet;
}
/**
* Generates the payload for a mavlink message for a message of this type
*
* @return
*/
public MAVLinkPacket pack() {
MAVLinkPacket packet = new MAVLinkPacket();
packet.len = MAVLINK_MSG_LENGTH;
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_LED_CONTROL;
packet.payload.putUnsignedByte(target_system);
packet.payload.putUnsignedByte(target_component);
packet.payload.putUnsignedByte(instance);
packet.payload.putUnsignedByte(pattern);
packet.payload.putUnsignedByte(custom_len);
for (int i = 0; i < custom_bytes.length; i++) {
packet.payload.putUnsignedByte(custom_bytes[i]);
}
return packet;
}
/**
* Generates the payload for a mavlink message for a message of this type
* @return
*/
public MAVLinkPacket pack(){
MAVLinkPacket packet = new MAVLinkPacket();
packet.len = MAVLINK_MSG_LENGTH;
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_MISSION_ITEM;
packet.payload.putFloat(param1);
packet.payload.putFloat(param2);
packet.payload.putFloat(param3);
packet.payload.putFloat(param4);
packet.payload.putFloat(x);
packet.payload.putFloat(y);
packet.payload.putFloat(z);
packet.payload.putUnsignedShort(seq);
packet.payload.putUnsignedShort(command);
packet.payload.putUnsignedByte(target_system);
packet.payload.putUnsignedByte(target_component);
packet.payload.putUnsignedByte(frame);
packet.payload.putUnsignedByte(current);
packet.payload.putUnsignedByte(autocontinue);
return packet;
}
/**
* Generates the payload for a mavlink message for a message of this type
*
* @return
*/
public MAVLinkPacket pack() {
MAVLinkPacket packet = new MAVLinkPacket(MAVLINK_MSG_LENGTH);
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_DISTANCE_SENSOR;
packet.payload.putUnsignedInt(time_boot_ms);
packet.payload.putUnsignedShort(min_distance);
packet.payload.putUnsignedShort(max_distance);
packet.payload.putUnsignedShort(current_distance);
packet.payload.putUnsignedByte(type);
packet.payload.putUnsignedByte(id);
packet.payload.putUnsignedByte(orientation);
packet.payload.putUnsignedByte(covariance);
return packet;
}
private void queueToLog(MAVLinkPacket packet) {
if (packet != null) queueToLog(packet.encodePacket());
}
public void sendMavPacket(MAVLinkPacket packet) {
final byte[] packetData = packet.encodePacket();
if (!mPacketsToSend.offer(packetData)) {
mLogger.logErr(TAG, "Unable to send mavlink packet. Packet queue is full!");
}
}