autogenerated headers for rev...

autogenerated headers for rev https://github.com/mavlink/mavlink/tree/5333afcb30f24f6dd75b915bf067a0d152aac54e

ASLUAV/mavlink.h

@@ -6,7 +6,7 @@
 #define MAVLINK_H
 
 #ifndef MAVLINK_STX
-#define MAVLINK_STX 254
+#define MAVLINK_STX 253
 #endif
 
 #ifndef MAVLINK_ENDIAN
@@ -22,7 +22,7 @@
 #endif
 
 #ifndef MAVLINK_COMMAND_24BIT
-#define MAVLINK_COMMAND_24BIT 0
+#define MAVLINK_COMMAND_24BIT 1
 #endif
 
 #ifndef MAVLINK_PACKED

ASLUAV/version.h

@@ -6,7 +6,7 @@
 #define MAVLINK_VERSION_H
 
 #define MAVLINK_BUILD_DATE "Fri Jun 24 2016"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
+#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
 #endif // MAVLINK_VERSION_H

ardupilotmega/mavlink.h

@@ -6,7 +6,7 @@
 #define MAVLINK_H
 
 #ifndef MAVLINK_STX
-#define MAVLINK_STX 254
+#define MAVLINK_STX 253
 #endif
 
 #ifndef MAVLINK_ENDIAN
@@ -22,7 +22,7 @@
 #endif
 
 #ifndef MAVLINK_COMMAND_24BIT
-#define MAVLINK_COMMAND_24BIT 0
+#define MAVLINK_COMMAND_24BIT 1
 #endif
 
 #ifndef MAVLINK_PACKED

ardupilotmega/mavlink_msg_meminfo.h

@@ -6,11 +6,12 @@ typedef struct MAVLINK_PACKED __mavlink_meminfo_t
 {
  uint16_t brkval; /*< heap top*/
  uint16_t freemem; /*< free memory*/
+ uint32_t freemem32; /*< free memory (32 bit)*/
 } mavlink_meminfo_t;
 
-#define MAVLINK_MSG_ID_MEMINFO_LEN 4
+#define MAVLINK_MSG_ID_MEMINFO_LEN 8
 #define MAVLINK_MSG_ID_MEMINFO_MIN_LEN 4
-#define MAVLINK_MSG_ID_152_LEN 4
+#define MAVLINK_MSG_ID_152_LEN 8
 #define MAVLINK_MSG_ID_152_MIN_LEN 4
 
 #define MAVLINK_MSG_ID_MEMINFO_CRC 208
@@ -22,17 +23,19 @@ typedef struct MAVLINK_PACKED __mavlink_meminfo_t
 #define MAVLINK_MESSAGE_INFO_MEMINFO { \
 	152, \
 	"MEMINFO", \
-	2, \
+	3, \
 	{  { "brkval", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_meminfo_t, brkval) }, \
          { "freemem", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_meminfo_t, freemem) }, \
+         { "freemem32", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_meminfo_t, freemem32) }, \
          } \
 }
 #else
 #define MAVLINK_MESSAGE_INFO_MEMINFO { \
 	"MEMINFO", \
-	2, \
+	3, \
 	{  { "brkval", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_meminfo_t, brkval) }, \
          { "freemem", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_meminfo_t, freemem) }, \
+         { "freemem32", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_meminfo_t, freemem32) }, \
          } \
 }
 #endif
@@ -45,21 +48,24 @@ typedef struct MAVLINK_PACKED __mavlink_meminfo_t
  *
  * @param brkval heap top
  * @param freemem free memory
+ * @param freemem32 free memory (32 bit)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_meminfo_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t brkval, uint16_t freemem)
+						       uint16_t brkval, uint16_t freemem, uint32_t freemem32)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[MAVLINK_MSG_ID_MEMINFO_LEN];
 	_mav_put_uint16_t(buf, 0, brkval);
 	_mav_put_uint16_t(buf, 2, freemem);
+	_mav_put_uint32_t(buf, 4, freemem32);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MEMINFO_LEN);
 #else
 	mavlink_meminfo_t packet;
 	packet.brkval = brkval;
 	packet.freemem = freemem;
+	packet.freemem32 = freemem32;
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MEMINFO_LEN);
 #endif
@@ -76,22 +82,25 @@ static inline uint16_t mavlink_msg_meminfo_pack(uint8_t system_id, uint8_t compo
  * @param msg The MAVLink message to compress the data into
  * @param brkval heap top
  * @param freemem free memory
+ * @param freemem32 free memory (32 bit)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_meminfo_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 							   mavlink_message_t* msg,
-						           uint16_t brkval,uint16_t freemem)
+						           uint16_t brkval,uint16_t freemem,uint32_t freemem32)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[MAVLINK_MSG_ID_MEMINFO_LEN];
 	_mav_put_uint16_t(buf, 0, brkval);
 	_mav_put_uint16_t(buf, 2, freemem);
+	_mav_put_uint32_t(buf, 4, freemem32);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MEMINFO_LEN);
 #else
 	mavlink_meminfo_t packet;
 	packet.brkval = brkval;
 	packet.freemem = freemem;
+	packet.freemem32 = freemem32;
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MEMINFO_LEN);
 #endif
@@ -110,7 +119,7 @@ static inline uint16_t mavlink_msg_meminfo_pack_chan(uint8_t system_id, uint8_t
  */
 static inline uint16_t mavlink_msg_meminfo_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_meminfo_t* meminfo)
 {
-	return mavlink_msg_meminfo_pack(system_id, component_id, msg, meminfo->brkval, meminfo->freemem);
+	return mavlink_msg_meminfo_pack(system_id, component_id, msg, meminfo->brkval, meminfo->freemem, meminfo->freemem32);
 }
 
 /**
@@ -124,7 +133,7 @@ static inline uint16_t mavlink_msg_meminfo_encode(uint8_t system_id, uint8_t com
  */
 static inline uint16_t mavlink_msg_meminfo_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_meminfo_t* meminfo)
 {
-	return mavlink_msg_meminfo_pack_chan(system_id, component_id, chan, msg, meminfo->brkval, meminfo->freemem);
+	return mavlink_msg_meminfo_pack_chan(system_id, component_id, chan, msg, meminfo->brkval, meminfo->freemem, meminfo->freemem32);
 }
 
 /**
@@ -133,21 +142,24 @@ static inline uint16_t mavlink_msg_meminfo_encode_chan(uint8_t system_id, uint8_
  *
  * @param brkval heap top
  * @param freemem free memory
+ * @param freemem32 free memory (32 bit)
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_meminfo_send(mavlink_channel_t chan, uint16_t brkval, uint16_t freemem)
+static inline void mavlink_msg_meminfo_send(mavlink_channel_t chan, uint16_t brkval, uint16_t freemem, uint32_t freemem32)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[MAVLINK_MSG_ID_MEMINFO_LEN];
 	_mav_put_uint16_t(buf, 0, brkval);
 	_mav_put_uint16_t(buf, 2, freemem);
+	_mav_put_uint32_t(buf, 4, freemem32);
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, buf, MAVLINK_MSG_ID_MEMINFO_MIN_LEN, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC);
 #else
 	mavlink_meminfo_t packet;
 	packet.brkval = brkval;
 	packet.freemem = freemem;
+	packet.freemem32 = freemem32;
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)&packet, MAVLINK_MSG_ID_MEMINFO_MIN_LEN, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC);
 #endif
@@ -161,7 +173,7 @@ static inline void mavlink_msg_meminfo_send(mavlink_channel_t chan, uint16_t brk
 static inline void mavlink_msg_meminfo_send_struct(mavlink_channel_t chan, const mavlink_meminfo_t* meminfo)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-    mavlink_msg_meminfo_send(chan, meminfo->brkval, meminfo->freemem);
+    mavlink_msg_meminfo_send(chan, meminfo->brkval, meminfo->freemem, meminfo->freemem32);
 #else
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)meminfo, MAVLINK_MSG_ID_MEMINFO_MIN_LEN, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC);
 #endif
@@ -175,18 +187,20 @@ static inline void mavlink_msg_meminfo_send_struct(mavlink_channel_t chan, const
   is usually the receive buffer for the channel, and allows a reply to an
   incoming message with minimum stack space usage.
  */
-static inline void mavlink_msg_meminfo_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint16_t brkval, uint16_t freemem)
+static inline void mavlink_msg_meminfo_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint16_t brkval, uint16_t freemem, uint32_t freemem32)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char *buf = (char *)msgbuf;
 	_mav_put_uint16_t(buf, 0, brkval);
 	_mav_put_uint16_t(buf, 2, freemem);
+	_mav_put_uint32_t(buf, 4, freemem32);
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, buf, MAVLINK_MSG_ID_MEMINFO_MIN_LEN, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC);
 #else
 	mavlink_meminfo_t *packet = (mavlink_meminfo_t *)msgbuf;
 	packet->brkval = brkval;
 	packet->freemem = freemem;
+	packet->freemem32 = freemem32;
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)packet, MAVLINK_MSG_ID_MEMINFO_MIN_LEN, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC);
 #endif
@@ -218,6 +232,16 @@ static inline uint16_t mavlink_msg_meminfo_get_freemem(const mavlink_message_t*
 	return _MAV_RETURN_uint16_t(msg,  2);
 }
 
+/**
+ * @brief Get field freemem32 from meminfo message
+ *
+ * @return free memory (32 bit)
+ */
+static inline uint32_t mavlink_msg_meminfo_get_freemem32(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint32_t(msg,  4);
+}
+
 /**
  * @brief Decode a meminfo message into a struct
  *
@@ -229,6 +253,7 @@ static inline void mavlink_msg_meminfo_decode(const mavlink_message_t* msg, mavl
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	meminfo->brkval = mavlink_msg_meminfo_get_brkval(msg);
 	meminfo->freemem = mavlink_msg_meminfo_get_freemem(msg);
+	meminfo->freemem32 = mavlink_msg_meminfo_get_freemem32(msg);
 #else
         uint8_t len = msg->len < MAVLINK_MSG_ID_MEMINFO_LEN? msg->len : MAVLINK_MSG_ID_MEMINFO_LEN;
         memset(meminfo, 0, MAVLINK_MSG_ID_MEMINFO_LEN);

ardupilotmega/testsuite.h

@@ -159,12 +159,13 @@ static void mavlink_test_meminfo(uint8_t system_id, uint8_t component_id, mavlin
         uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
         uint16_t i;
 	mavlink_meminfo_t packet_in = {
-		17235,17339
+		17235,17339,963497672
     };
 	mavlink_meminfo_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
         packet1.brkval = packet_in.brkval;
         packet1.freemem = packet_in.freemem;
+        packet1.freemem32 = packet_in.freemem32;
         
         
 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
@@ -179,12 +180,12 @@ static void mavlink_test_meminfo(uint8_t system_id, uint8_t component_id, mavlin
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_meminfo_pack(system_id, component_id, &msg , packet1.brkval , packet1.freemem );
+	mavlink_msg_meminfo_pack(system_id, component_id, &msg , packet1.brkval , packet1.freemem , packet1.freemem32 );
 	mavlink_msg_meminfo_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_meminfo_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.brkval , packet1.freemem );
+	mavlink_msg_meminfo_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.brkval , packet1.freemem , packet1.freemem32 );
 	mavlink_msg_meminfo_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
@@ -197,7 +198,7 @@ static void mavlink_test_meminfo(uint8_t system_id, uint8_t component_id, mavlin
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_meminfo_send(MAVLINK_COMM_1 , packet1.brkval , packet1.freemem );
+	mavlink_msg_meminfo_send(MAVLINK_COMM_1 , packet1.brkval , packet1.freemem , packet1.freemem32 );
 	mavlink_msg_meminfo_decode(last_msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }

ardupilotmega/version.h

@@ -6,7 +6,7 @@
 #define MAVLINK_VERSION_H
 
 #define MAVLINK_BUILD_DATE "Fri Jun 24 2016"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
+#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
 #endif // MAVLINK_VERSION_H

autoquad/mavlink.h

@@ -6,7 +6,7 @@
 #define MAVLINK_H
 
 #ifndef MAVLINK_STX
-#define MAVLINK_STX 254
+#define MAVLINK_STX 253
 #endif
 
 #ifndef MAVLINK_ENDIAN
@@ -22,7 +22,7 @@
 #endif
 
 #ifndef MAVLINK_COMMAND_24BIT
-#define MAVLINK_COMMAND_24BIT 0
+#define MAVLINK_COMMAND_24BIT 1
 #endif
 
 #ifndef MAVLINK_PACKED

autoquad/version.h

@@ -6,7 +6,7 @@
 #define MAVLINK_VERSION_H
 
 #define MAVLINK_BUILD_DATE "Fri Jun 24 2016"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
+#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
 #endif // MAVLINK_VERSION_H

common/mavlink.h

@@ -6,7 +6,7 @@
 #define MAVLINK_H
 
 #ifndef MAVLINK_STX
-#define MAVLINK_STX 254
+#define MAVLINK_STX 253
 #endif
 
 #ifndef MAVLINK_ENDIAN
@@ -22,7 +22,7 @@
 #endif
 
 #ifndef MAVLINK_COMMAND_24BIT
-#define MAVLINK_COMMAND_24BIT 0
+#define MAVLINK_COMMAND_24BIT 1
 #endif
 
 #ifndef MAVLINK_PACKED

common/testsuite.h

@@ -7976,6 +7976,63 @@ static void mavlink_test_debug(uint8_t system_id, uint8_t component_id, mavlink_
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_setup_signing(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+	mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
+        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_SETUP_SIGNING >= 256) {
+        	return;
+        }
+#endif
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_setup_signing_t packet_in = {
+		93372036854775807ULL,29,96,{ 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194 }
+    };
+	mavlink_setup_signing_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        packet1.initial_timestamp = packet_in.initial_timestamp;
+        packet1.target_system = packet_in.target_system;
+        packet1.target_component = packet_in.target_component;
+        
+        mav_array_memcpy(packet1.secret_key, packet_in.secret_key, sizeof(uint8_t)*32);
+        
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
+           // cope with extensions
+           memset(MAVLINK_MSG_ID_SETUP_SIGNING_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_SETUP_SIGNING_MIN_LEN);
+        }
+#endif
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_setup_signing_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_setup_signing_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_setup_signing_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.secret_key , packet1.initial_timestamp );
+	mavlink_msg_setup_signing_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_setup_signing_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.secret_key , packet1.initial_timestamp );
+	mavlink_msg_setup_signing_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_setup_signing_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_setup_signing_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.secret_key , packet1.initial_timestamp );
+	mavlink_msg_setup_signing_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 	mavlink_test_heartbeat(system_id, component_id, last_msg);
@@ -8110,6 +8167,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
 	mavlink_test_named_value_int(system_id, component_id, last_msg);
 	mavlink_test_statustext(system_id, component_id, last_msg);
 	mavlink_test_debug(system_id, component_id, last_msg);
+	mavlink_test_setup_signing(system_id, component_id, last_msg);
 }
 
 #ifdef __cplusplus

common/version.h

@@ -6,7 +6,7 @@
 #define MAVLINK_VERSION_H
 
 #define MAVLINK_BUILD_DATE "Fri Jun 24 2016"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
+#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
 #endif // MAVLINK_VERSION_H

matrixpilot/mavlink.h

@@ -6,7 +6,7 @@
 #define MAVLINK_H
 
 #ifndef MAVLINK_STX
-#define MAVLINK_STX 254
+#define MAVLINK_STX 253
 #endif
 
 #ifndef MAVLINK_ENDIAN
@@ -22,7 +22,7 @@
 #endif
 
 #ifndef MAVLINK_COMMAND_24BIT
-#define MAVLINK_COMMAND_24BIT 0
+#define MAVLINK_COMMAND_24BIT 1
 #endif
 
 #ifndef MAVLINK_PACKED

matrixpilot/version.h

@@ -6,7 +6,7 @@
 #define MAVLINK_VERSION_H
 
 #define MAVLINK_BUILD_DATE "Fri Jun 24 2016"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
+#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
 #endif // MAVLINK_VERSION_H

mavlink_get_info.h

+#ifndef  _MAVLINK_GET_INFO_H_
+#define  _MAVLINK_GET_INFO_H_
+
+#ifdef MAVLINK_USE_MESSAGE_INFO
+#define MAVLINK_HAVE_GET_MESSAGE_INFO
+/*
+  return the message_info struct for a message
+*/
+MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info(const mavlink_message_t *msg)
+{
+	static const mavlink_message_info_t mavlink_message_info[] = MAVLINK_MESSAGE_INFO;
+        /*
+	  use a bisection search to find the right entry. A perfect hash may be better
+	  Note that this assumes the table is sorted with primary key msgid
+	*/
+	uint32_t msgid = msg->msgid;
+        uint32_t low=0, high=sizeof(mavlink_message_info)/sizeof(mavlink_message_info[0]);
+        while (low < high) {
+            uint32_t mid = (low+1+high)/2;
+            if (msgid < mavlink_message_info[mid].msgid) {
+                high = mid-1;
+                continue;
+            }
+            if (msgid > mavlink_message_info[mid].msgid) {
+                low = mid;
+                continue;
+            }
+            low = mid;
+            break;
+        }
+        return &mavlink_message_info[low];
+}
+#endif // MAVLINK_USE_MESSAGE_INFO
+
+#endif // _MAVLINK_GET_INFO_H_
+

mavlink_sha256.h

+#pragma once
+
+/*
+  sha-256 implementation for MAVLink based on Heimdal sources, with
+  modifications to suit mavlink headers
+ */
+/*
+ * Copyright (c) 1995 - 2001 Kungliga Tekniska Hgskolan
+ * (Royal Institute of Technology, Stockholm, Sweden).
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ */
+
+/*
+  allow implementation to provide their own sha256 with the same API
+*/
+#ifndef HAVE_MAVLINK_SHA256
+
+#ifndef MAVLINK_HELPER
+#define MAVLINK_HELPER
+#endif
+
+typedef struct {
+  unsigned int sz[2];
+  uint32_t counter[8];
+  union {
+      unsigned char save_bytes[64];
+      uint32_t save_u32[16];
+  } u;
+} mavlink_sha256_ctx;
+
+#define Ch(x,y,z) (((x) & (y)) ^ ((~(x)) & (z)))
+#define Maj(x,y,z) (((x) & (y)) ^ ((x) & (z)) ^ ((y) & (z)))
+
+#define ROTR(x,n)   (((x)>>(n)) | ((x) << (32 - (n))))
+
+#define Sigma0(x)	(ROTR(x,2)  ^ ROTR(x,13) ^ ROTR(x,22))
+#define Sigma1(x)	(ROTR(x,6)  ^ ROTR(x,11) ^ ROTR(x,25))
+#define sigma0(x)	(ROTR(x,7)  ^ ROTR(x,18) ^ ((x)>>3))
+#define sigma1(x)	(ROTR(x,17) ^ ROTR(x,19) ^ ((x)>>10))
+
+#define A m->counter[0]
+#define B m->counter[1]
+#define C m->counter[2]
+#define D m->counter[3]
+#define E m->counter[4]
+#define F m->counter[5]
+#define G m->counter[6]
+#define H m->counter[7]
+
+static const uint32_t mavlink_sha256_constant_256[64] = {
+    0x428a2f98, 0x71374491, 0xb5c0fbcf, 0xe9b5dba5,
+    0x3956c25b, 0x59f111f1, 0x923f82a4, 0xab1c5ed5,
+    0xd807aa98, 0x12835b01, 0x243185be, 0x550c7dc3,
+    0x72be5d74, 0x80deb1fe, 0x9bdc06a7, 0xc19bf174,
+    0xe49b69c1, 0xefbe4786, 0x0fc19dc6, 0x240ca1cc,
+    0x2de92c6f, 0x4a7484aa, 0x5cb0a9dc, 0x76f988da,
+    0x983e5152, 0xa831c66d, 0xb00327c8, 0xbf597fc7,
+    0xc6e00bf3, 0xd5a79147, 0x06ca6351, 0x14292967,
+    0x27b70a85, 0x2e1b2138, 0x4d2c6dfc, 0x53380d13,
+    0x650a7354, 0x766a0abb, 0x81c2c92e, 0x92722c85,
+    0xa2bfe8a1, 0xa81a664b, 0xc24b8b70, 0xc76c51a3,
+    0xd192e819, 0xd6990624, 0xf40e3585, 0x106aa070,
+    0x19a4c116, 0x1e376c08, 0x2748774c, 0x34b0bcb5,
+    0x391c0cb3, 0x4ed8aa4a, 0x5b9cca4f, 0x682e6ff3,
+    0x748f82ee, 0x78a5636f, 0x84c87814, 0x8cc70208,
+    0x90befffa, 0xa4506ceb, 0xbef9a3f7, 0xc67178f2
+};
+
+MAVLINK_HELPER void mavlink_sha256_init(mavlink_sha256_ctx *m)
+{
+    m->sz[0] = 0;
+    m->sz[1] = 0;
+    A = 0x6a09e667;
+    B = 0xbb67ae85;
+    C = 0x3c6ef372;
+    D = 0xa54ff53a;
+    E = 0x510e527f;
+    F = 0x9b05688c;
+    G = 0x1f83d9ab;
+    H = 0x5be0cd19;
+}
+
+static inline void mavlink_sha256_calc(mavlink_sha256_ctx *m, uint32_t *in)
+{
+    uint32_t AA, BB, CC, DD, EE, FF, GG, HH;
+    uint32_t data[64];
+    int i;
+
+    AA = A;
+    BB = B;
+    CC = C;
+    DD = D;
+    EE = E;
+    FF = F;
+    GG = G;
+    HH = H;
+
+    for (i = 0; i < 16; ++i)
+	data[i] = in[i];
+    for (i = 16; i < 64; ++i)
+	data[i] = sigma1(data[i-2]) + data[i-7] + 
+	    sigma0(data[i-15]) + data[i - 16];
+
+    for (i = 0; i < 64; i++) {
+	uint32_t T1, T2;
+
+	T1 = HH + Sigma1(EE) + Ch(EE, FF, GG) + mavlink_sha256_constant_256[i] + data[i];
+	T2 = Sigma0(AA) + Maj(AA,BB,CC);
+			     
+	HH = GG;
+	GG = FF;
+	FF = EE;
+	EE = DD + T1;
+	DD = CC;
+	CC = BB;
+	BB = AA;
+	AA = T1 + T2;
+    }
+
+    A += AA;
+    B += BB;
+    C += CC;
+    D += DD;
+    E += EE;
+    F += FF;
+    G += GG;
+    H += HH;
+}
+
+MAVLINK_HELPER void mavlink_sha256_update(mavlink_sha256_ctx *m, const void *v, uint32_t len)
+{
+    const unsigned char *p = (const unsigned char *)v;
+    uint32_t old_sz = m->sz[0];
+    uint32_t offset;
+
+    m->sz[0] += len * 8;
+    if (m->sz[0] < old_sz)
+	++m->sz[1];
+    offset = (old_sz / 8) % 64;
+    while(len > 0){
+	uint32_t l = 64 - offset;
+        if (len < l) {
+            l = len;
+        }
+	memcpy(m->u.save_bytes + offset, p, l);
+	offset += l;
+	p += l;
+	len -= l;
+	if(offset == 64){
+	    int i;
+	    uint32_t current[16];
+	    const uint32_t *u = m->u.save_u32;
+	    for (i = 0; i < 16; i++){
+                const uint8_t *p1 = (const uint8_t *)&u[i];
+                uint8_t *p2 = (uint8_t *)&current[i];
+                p2[0] = p1[3];
+                p2[1] = p1[2];
+                p2[2] = p1[1];
+                p2[3] = p1[0];
+	    }
+	    mavlink_sha256_calc(m, current);
+	    offset = 0;
+	}
+    }
+}
+
+/*
+  get first 48 bits of final sha256 hash
+ */
+MAVLINK_HELPER void mavlink_sha256_final_48(mavlink_sha256_ctx *m, uint8_t result[6])
+{
+    unsigned char zeros[72];
+    unsigned offset = (m->sz[0] / 8) % 64;
+    unsigned int dstart = (120 - offset - 1) % 64 + 1;
+    uint8_t *p = (uint8_t *)&m->counter[0];
+    
+    *zeros = 0x80;
+    memset (zeros + 1, 0, sizeof(zeros) - 1);
+    zeros[dstart+7] = (m->sz[0] >> 0) & 0xff;
+    zeros[dstart+6] = (m->sz[0] >> 8) & 0xff;
+    zeros[dstart+5] = (m->sz[0] >> 16) & 0xff;
+    zeros[dstart+4] = (m->sz[0] >> 24) & 0xff;
+    zeros[dstart+3] = (m->sz[1] >> 0) & 0xff;
+    zeros[dstart+2] = (m->sz[1] >> 8) & 0xff;
+    zeros[dstart+1] = (m->sz[1] >> 16) & 0xff;
+    zeros[dstart+0] = (m->sz[1] >> 24) & 0xff;
+
+    mavlink_sha256_update(m, zeros, dstart + 8);
+
+    // this ordering makes the result consistent with taking the first
+    // 6 bytes of more conventional sha256 functions. It assumes
+    // little-endian ordering of m->counter
+    result[0] = p[3];
+    result[1] = p[2];
+    result[2] = p[1];
+    result[3] = p[0];
+    result[4] = p[7];
+    result[5] = p[6];
+}
+
+// prevent conflicts with users of the header
+#undef A
+#undef B
+#undef C
+#undef D
+#undef E
+#undef F
+#undef G
+#undef H
+#undef Ch
+#undef ROTR
+#undef Sigma0
+#undef Sigma1
+#undef sigma0
+#undef sigma1
+
+#endif // HAVE_MAVLINK_SHA256

mavlink_types.h

@@ -20,26 +20,15 @@
 #define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
 #endif
 
-#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
-#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
+#define MAVLINK_CORE_HEADER_LEN 9 ///< Length of core header (of the comm. layer)
+#define MAVLINK_CORE_HEADER_MAVLINK1_LEN 5 ///< Length of MAVLink1 core header (of the comm. layer)
+#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and stx
 #define MAVLINK_NUM_CHECKSUM_BYTES 2
 #define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
 
-#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
-
-#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
-#define MAVLINK_EXTENDED_HEADER_LEN 14
-
-#if (defined _MSC_VER) || ((defined __APPLE__) && (defined __MACH__)) || (defined __linux__)
-  /* full fledged 32bit++ OS */
-  #define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
-#else
-  /* small microcontrollers */
-  #define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
-#endif
-
-#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
+#define MAVLINK_SIGNATURE_BLOCK_LEN 13
 
+#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_SIGNATURE_BLOCK_LEN) ///< Maximum packet length
 
 /**
  * Old-style 4 byte param union
@@ -113,23 +102,20 @@ typedef struct __mavlink_system {
 
 MAVPACKED(
 typedef struct __mavlink_message {
-	uint16_t checksum; ///< sent at end of packet
-	uint8_t magic;   ///< protocol magic marker
-	uint8_t len;     ///< Length of payload
-	uint8_t seq;     ///< Sequence of packet
-	uint8_t sysid;   ///< ID of message sender system/aircraft
-	uint8_t compid;  ///< ID of the message sender component
-	uint8_t msgid;   ///< ID of message in payload
+	uint16_t checksum;      ///< sent at end of packet
+	uint8_t magic;          ///< protocol magic marker
+	uint8_t len;            ///< Length of payload
+	uint8_t incompat_flags; ///< flags that must be understood
+	uint8_t compat_flags;   ///< flags that can be ignored if not understood
+	uint8_t seq;            ///< Sequence of packet
+	uint8_t sysid;          ///< ID of message sender system/aircraft
+	uint8_t compid;         ///< ID of the message sender component
+	uint32_t msgid:24;      ///< ID of message in payload
 	uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
+	uint8_t ck[2];          ///< incoming checksum bytes
+	uint8_t signature[MAVLINK_SIGNATURE_BLOCK_LEN];
 }) mavlink_message_t;
 
-MAVPACKED(
-typedef struct __mavlink_extended_message {
-       mavlink_message_t base_msg;
-       int32_t extended_payload_len;   ///< Length of extended payload if any
-       uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
-}) mavlink_extended_message_t;
-
 typedef enum {
 	MAVLINK_TYPE_CHAR     = 0,
 	MAVLINK_TYPE_UINT8_T  = 1,
@@ -147,7 +133,7 @@ typedef enum {
 #define MAVLINK_MAX_FIELDS 64
 
 typedef struct __mavlink_field_info {
-        const char *name;                 // name of this field
+	const char *name;                 // name of this field
         const char *print_format;         // printing format hint, or NULL
         mavlink_message_type_t type;      // type of this field
         unsigned int array_length;        // if non-zero, field is an array
@@ -158,6 +144,7 @@ typedef struct __mavlink_field_info {
 // note that in this structure the order of fields is the order
 // in the XML file, not necessary the wire order
 typedef struct __mavlink_message_info {
+	uint32_t msgid;                                        // message ID
 	const char *name;                                      // name of the message
 	unsigned num_fields;                                   // how many fields in this message
 	mavlink_field_info_t fields[MAVLINK_MAX_FIELDS];       // field information
@@ -194,22 +181,35 @@ typedef enum {
     MAVLINK_PARSE_STATE_UNINIT=0,
     MAVLINK_PARSE_STATE_IDLE,
     MAVLINK_PARSE_STATE_GOT_STX,
-    MAVLINK_PARSE_STATE_GOT_SEQ,
     MAVLINK_PARSE_STATE_GOT_LENGTH,
+    MAVLINK_PARSE_STATE_GOT_INCOMPAT_FLAGS,
+    MAVLINK_PARSE_STATE_GOT_COMPAT_FLAGS,
+    MAVLINK_PARSE_STATE_GOT_SEQ,
     MAVLINK_PARSE_STATE_GOT_SYSID,
     MAVLINK_PARSE_STATE_GOT_COMPID,
-    MAVLINK_PARSE_STATE_GOT_MSGID,
+    MAVLINK_PARSE_STATE_GOT_MSGID1,
+    MAVLINK_PARSE_STATE_GOT_MSGID2,
+    MAVLINK_PARSE_STATE_GOT_MSGID3,
     MAVLINK_PARSE_STATE_GOT_PAYLOAD,
     MAVLINK_PARSE_STATE_GOT_CRC1,
-    MAVLINK_PARSE_STATE_GOT_BAD_CRC1
+    MAVLINK_PARSE_STATE_GOT_BAD_CRC1,
+    MAVLINK_PARSE_STATE_SIGNATURE_WAIT
 } mavlink_parse_state_t; ///< The state machine for the comm parser
 
 typedef enum {
     MAVLINK_FRAMING_INCOMPLETE=0,
     MAVLINK_FRAMING_OK=1,
-    MAVLINK_FRAMING_BAD_CRC=2
+    MAVLINK_FRAMING_BAD_CRC=2,
+    MAVLINK_FRAMING_BAD_SIGNATURE=3
 } mavlink_framing_t;
 
+#define MAVLINK_STATUS_FLAG_IN_MAVLINK1  1 // last incoming packet was MAVLink1
+#define MAVLINK_STATUS_FLAG_OUT_MAVLINK1 2 // generate MAVLink1 by default
+#define MAVLINK_STATUS_FLAG_IN_SIGNED    4 // last incoming packet was signed and validated
+#define MAVLINK_STATUS_FLAG_IN_BADSIG    8 // last incoming packet had a bad signature
+
+#define MAVLINK_STX_MAVLINK1 0xFE          // marker for old protocol
+
 typedef struct __mavlink_status {
     uint8_t msg_received;               ///< Number of received messages
     uint8_t buffer_overrun;             ///< Number of buffer overruns
@@ -220,9 +220,73 @@ typedef struct __mavlink_status {
     uint8_t current_tx_seq;             ///< Sequence number of last packet sent
     uint16_t packet_rx_success_count;   ///< Received packets
     uint16_t packet_rx_drop_count;      ///< Number of packet drops
+    uint8_t flags;                      ///< MAVLINK_STATUS_FLAG_*
+    uint8_t signature_wait;             ///< number of signature bytes left to receive
+    struct __mavlink_signing *signing;  ///< optional signing state
+    struct __mavlink_signing_streams *signing_streams; ///< global record of stream timestamps
 } mavlink_status_t;
 
+/*
+  a callback function to allow for accepting unsigned packets
+ */
+typedef bool (*mavlink_accept_unsigned_t)(const mavlink_status_t *status, uint32_t msgid);
+
+/*
+  flags controlling signing
+ */
+#define MAVLINK_SIGNING_FLAG_SIGN_OUTGOING 1
+
+/*
+  state of MAVLink signing for this channel
+ */
+typedef struct __mavlink_signing {
+    uint8_t flags;                     ///< MAVLINK_SIGNING_FLAG_*
+    uint8_t link_id;
+    uint64_t timestamp;
+    uint8_t secret_key[32];
+    mavlink_accept_unsigned_t accept_unsigned_callback;
+} mavlink_signing_t;
+
+/*
+  timestamp state of each logical signing stream. This needs to be the same structure for all
+  connections in order to be secure
+ */
+#ifndef MAVLINK_MAX_SIGNING_STREAMS
+#define MAVLINK_MAX_SIGNING_STREAMS 16
+#endif
+typedef struct __mavlink_signing_streams {
+    uint16_t num_signing_streams;
+    struct __mavlink_signing_stream {
+        uint8_t link_id;
+        uint8_t sysid;
+        uint8_t compid;
+        uint8_t timestamp_bytes[6];
+    } stream[MAVLINK_MAX_SIGNING_STREAMS];
+} mavlink_signing_streams_t;
+
+
 #define MAVLINK_BIG_ENDIAN 0
 #define MAVLINK_LITTLE_ENDIAN 1
 
+#define MAV_MSG_ENTRY_FLAG_HAVE_TARGET_SYSTEM    1
+#define MAV_MSG_ENTRY_FLAG_HAVE_TARGET_COMPONENT 2
+
+/*
+  entry in table of information about each message type
+ */
+typedef struct __mavlink_msg_entry {
+	uint32_t msgid;
+	uint8_t crc_extra;
+	uint8_t msg_len;
+	uint8_t flags;             // MAV_MSG_ENTRY_FLAG_*
+	uint8_t target_system_ofs; // payload offset to target_system, or 0
+	uint8_t target_component_ofs; // payload offset to target_component, or 0
+} mavlink_msg_entry_t;
+
+/*
+  incompat_flags bits
+ */
+#define MAVLINK_IFLAG_SIGNED  0x01
+#define MAVLINK_IFLAG_MASK    0x01 // mask of all understood bits
+
 #endif /* MAVLINK_TYPES_H_ */

minimal/mavlink.h

@@ -6,7 +6,7 @@
 #define MAVLINK_H
 
 #ifndef MAVLINK_STX
-#define MAVLINK_STX 254
+#define MAVLINK_STX 253
 #endif
 
 #ifndef MAVLINK_ENDIAN
@@ -22,7 +22,7 @@
 #endif
 
 #ifndef MAVLINK_COMMAND_24BIT
-#define MAVLINK_COMMAND_24BIT 0
+#define MAVLINK_COMMAND_24BIT 1
 #endif
 
 #ifndef MAVLINK_PACKED

minimal/version.h

@@ -6,7 +6,7 @@
 #define MAVLINK_VERSION_H
 
 #define MAVLINK_BUILD_DATE "Fri Jun 24 2016"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
+#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 9
  
 #endif // MAVLINK_VERSION_H

protocol.h

@@ -44,24 +44,14 @@
     MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
     #endif
     MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan);
-    #if MAVLINK_CRC_EXTRA
     MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
                                                           uint8_t chan, uint8_t min_length, uint8_t length, uint8_t crc_extra);
     MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
                                                      uint8_t min_length, uint8_t length, uint8_t crc_extra);
     #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-    MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet,
+    MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint32_t msgid, const char *packet,
                                                         uint8_t min_length, uint8_t length, uint8_t crc_extra);
     #endif
-    #else
-    MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
-                                                          uint8_t chan, uint8_t length);
-    MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
-                                                     uint8_t length);
-    #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-    MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length);
-    #endif
-    #endif // MAVLINK_CRC_EXTRA
     MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
     MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
     MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
@@ -74,6 +64,7 @@
     MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
     MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index,
                                uint8_t* r_bit_index, uint8_t* buffer);
+    MAVLINK_HELPER const mavlink_msg_entry_t *mavlink_get_msg_entry(uint32_t msgid);
     #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
     MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
     MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg);
@@ -86,12 +77,17 @@
 
 #endif // MAVLINK_SEPARATE_HELPERS
 
+
 /**
  * @brief Get the required buffer size for this message
  */
 static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
 {
-	return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	if (msg->magic == MAVLINK_STX_MAVLINK1) {
+		return msg->len + MAVLINK_CORE_HEADER_MAVLINK1_LEN+1 + 2;
+	}
+    	uint16_t signature_len = (msg->incompat_flags & MAVLINK_IFLAG_SIGNED)?MAVLINK_SIGNATURE_BLOCK_LEN:0;
+	return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES + signature_len;
 }
 
 #if MAVLINK_NEED_BYTE_SWAP

slugs/mavlink.h

@@ -6,7 +6,7 @@
 #define MAVLINK_H
 
 #ifndef MAVLINK_STX
-#define MAVLINK_STX 254
+#define MAVLINK_STX 253
 #endif
 
 #ifndef MAVLINK_ENDIAN
@@ -22,7 +22,7 @@
 #endif
 
 #ifndef MAVLINK_COMMAND_24BIT
-#define MAVLINK_COMMAND_24BIT 0
+#define MAVLINK_COMMAND_24BIT 1
 #endif
 
 #ifndef MAVLINK_PACKED

slugs/version.h

@@ -6,7 +6,7 @@
 #define MAVLINK_VERSION_H
 
 #define MAVLINK_BUILD_DATE "Fri Jun 24 2016"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
+#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
 #endif // MAVLINK_VERSION_H

test/mavlink.h

@@ -6,7 +6,7 @@
 #define MAVLINK_H
 
 #ifndef MAVLINK_STX
-#define MAVLINK_STX 254
+#define MAVLINK_STX 253
 #endif
 
 #ifndef MAVLINK_ENDIAN
@@ -22,7 +22,7 @@
 #endif
 
 #ifndef MAVLINK_COMMAND_24BIT
-#define MAVLINK_COMMAND_24BIT 0
+#define MAVLINK_COMMAND_24BIT 1
 #endif
 
 #ifndef MAVLINK_PACKED

test/version.h

@@ -6,7 +6,7 @@
 #define MAVLINK_VERSION_H
 
 #define MAVLINK_BUILD_DATE "Fri Jun 24 2016"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
+#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
  
 #endif // MAVLINK_VERSION_H