autogenerated headers for rev...

autogenerated headers for rev https://github.com/mavlink/mavlink/tree/6e06b09b9ceb1d03c8f54e91494ab84901d33d9c

ASLUAV/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Wed Jul 10 2019"
+#define MAVLINK_BUILD_DATE "Thu Jul 11 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

ardupilotmega/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Wed Jul 10 2019"
+#define MAVLINK_BUILD_DATE "Thu Jul 11 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

autoquad/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Wed Jul 10 2019"
+#define MAVLINK_BUILD_DATE "Thu Jul 11 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

common/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Wed Jul 10 2019"
+#define MAVLINK_BUILD_DATE "Thu Jul 11 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

icarous/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Wed Jul 10 2019"
+#define MAVLINK_BUILD_DATE "Thu Jul 11 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

matrixpilot/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Wed Jul 10 2019"
+#define MAVLINK_BUILD_DATE "Thu Jul 11 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

message_definitions/minimal.xml

@@ -381,6 +381,14 @@
         <description>Component for handling system messages (e.g. to ARM, takeoff, etc.).</description>
       </entry>
     </enum>
+    <enum name="MAV_CMD">
+      <description>Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries</description>
+      <entry value="519" name="MAV_CMD_REQUEST_PROTOCOL_VERSION" hasLocation="false" isDestination="false">
+        <description>Request MAVLink protocol version compatibility</description>
+        <param index="1" label="Protocol">1: Request supported protocol versions by all nodes on the network</param>
+        <param index="2">Reserved (all remaining params)</param>
+      </entry>
+    </enum>
   </enums>
   <messages>
     <message id="0" name="HEARTBEAT">
@@ -392,5 +400,15 @@
       <field type="uint8_t" name="system_status" enum="MAV_STATE">System status flag.</field>
       <field type="uint8_t_mavlink_version" name="mavlink_version">MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version</field>
     </message>
+    <message id="300" name="PROTOCOL_VERSION">
+      <wip/>
+      <!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
+      <description>Version and capability of protocol version. This message is the response to REQUEST_PROTOCOL_VERSION and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to REQUEST_PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.</description>
+      <field type="uint16_t" name="version">Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.</field>
+      <field type="uint16_t" name="min_version">Minimum MAVLink version supported</field>
+      <field type="uint16_t" name="max_version">Maximum MAVLink version supported (set to the same value as version by default)</field>
+      <field type="uint8_t[8]" name="spec_version_hash">The first 8 bytes (not characters printed in hex!) of the git hash.</field>
+      <field type="uint8_t[8]" name="library_version_hash">The first 8 bytes (not characters printed in hex!) of the git hash.</field>
+    </message>
   </messages>
 </mavlink>

minimal/mavlink_msg_protocol_version.h

+#pragma once
+// MESSAGE PROTOCOL_VERSION PACKING
+
+#define MAVLINK_MSG_ID_PROTOCOL_VERSION 300
+
+MAVPACKED(
+typedef struct __mavlink_protocol_version_t {
+ uint16_t version; /*<  Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.*/
+ uint16_t min_version; /*<  Minimum MAVLink version supported*/
+ uint16_t max_version; /*<  Maximum MAVLink version supported (set to the same value as version by default)*/
+ uint8_t spec_version_hash[8]; /*<  The first 8 bytes (not characters printed in hex!) of the git hash.*/
+ uint8_t library_version_hash[8]; /*<  The first 8 bytes (not characters printed in hex!) of the git hash.*/
+}) mavlink_protocol_version_t;
+
+#define MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN 22
+#define MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN 22
+#define MAVLINK_MSG_ID_300_LEN 22
+#define MAVLINK_MSG_ID_300_MIN_LEN 22
+
+#define MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC 217
+#define MAVLINK_MSG_ID_300_CRC 217
+
+#define MAVLINK_MSG_PROTOCOL_VERSION_FIELD_SPEC_VERSION_HASH_LEN 8
+#define MAVLINK_MSG_PROTOCOL_VERSION_FIELD_LIBRARY_VERSION_HASH_LEN 8
+
+#if MAVLINK_COMMAND_24BIT
+#define MAVLINK_MESSAGE_INFO_PROTOCOL_VERSION { \
+    300, \
+    "PROTOCOL_VERSION", \
+    5, \
+    {  { "version", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_protocol_version_t, version) }, \
+         { "min_version", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_protocol_version_t, min_version) }, \
+         { "max_version", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_protocol_version_t, max_version) }, \
+         { "spec_version_hash", NULL, MAVLINK_TYPE_UINT8_T, 8, 6, offsetof(mavlink_protocol_version_t, spec_version_hash) }, \
+         { "library_version_hash", NULL, MAVLINK_TYPE_UINT8_T, 8, 14, offsetof(mavlink_protocol_version_t, library_version_hash) }, \
+         } \
+}
+#else
+#define MAVLINK_MESSAGE_INFO_PROTOCOL_VERSION { \
+    "PROTOCOL_VERSION", \
+    5, \
+    {  { "version", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_protocol_version_t, version) }, \
+         { "min_version", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_protocol_version_t, min_version) }, \
+         { "max_version", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_protocol_version_t, max_version) }, \
+         { "spec_version_hash", NULL, MAVLINK_TYPE_UINT8_T, 8, 6, offsetof(mavlink_protocol_version_t, spec_version_hash) }, \
+         { "library_version_hash", NULL, MAVLINK_TYPE_UINT8_T, 8, 14, offsetof(mavlink_protocol_version_t, library_version_hash) }, \
+         } \
+}
+#endif
+
+/**
+ * @brief Pack a protocol_version message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param version  Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
+ * @param min_version  Minimum MAVLink version supported
+ * @param max_version  Maximum MAVLink version supported (set to the same value as version by default)
+ * @param spec_version_hash  The first 8 bytes (not characters printed in hex!) of the git hash.
+ * @param library_version_hash  The first 8 bytes (not characters printed in hex!) of the git hash.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_protocol_version_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+                               uint16_t version, uint16_t min_version, uint16_t max_version, const uint8_t *spec_version_hash, const uint8_t *library_version_hash)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN];
+    _mav_put_uint16_t(buf, 0, version);
+    _mav_put_uint16_t(buf, 2, min_version);
+    _mav_put_uint16_t(buf, 4, max_version);
+    _mav_put_uint8_t_array(buf, 6, spec_version_hash, 8);
+    _mav_put_uint8_t_array(buf, 14, library_version_hash, 8);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
+#else
+    mavlink_protocol_version_t packet;
+    packet.version = version;
+    packet.min_version = min_version;
+    packet.max_version = max_version;
+    mav_array_memcpy(packet.spec_version_hash, spec_version_hash, sizeof(uint8_t)*8);
+    mav_array_memcpy(packet.library_version_hash, library_version_hash, sizeof(uint8_t)*8);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_PROTOCOL_VERSION;
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
+}
+
+/**
+ * @brief Pack a protocol_version message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param version  Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
+ * @param min_version  Minimum MAVLink version supported
+ * @param max_version  Maximum MAVLink version supported (set to the same value as version by default)
+ * @param spec_version_hash  The first 8 bytes (not characters printed in hex!) of the git hash.
+ * @param library_version_hash  The first 8 bytes (not characters printed in hex!) of the git hash.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_protocol_version_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+                               mavlink_message_t* msg,
+                                   uint16_t version,uint16_t min_version,uint16_t max_version,const uint8_t *spec_version_hash,const uint8_t *library_version_hash)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN];
+    _mav_put_uint16_t(buf, 0, version);
+    _mav_put_uint16_t(buf, 2, min_version);
+    _mav_put_uint16_t(buf, 4, max_version);
+    _mav_put_uint8_t_array(buf, 6, spec_version_hash, 8);
+    _mav_put_uint8_t_array(buf, 14, library_version_hash, 8);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
+#else
+    mavlink_protocol_version_t packet;
+    packet.version = version;
+    packet.min_version = min_version;
+    packet.max_version = max_version;
+    mav_array_memcpy(packet.spec_version_hash, spec_version_hash, sizeof(uint8_t)*8);
+    mav_array_memcpy(packet.library_version_hash, library_version_hash, sizeof(uint8_t)*8);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_PROTOCOL_VERSION;
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
+}
+
+/**
+ * @brief Encode a protocol_version struct
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param protocol_version C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_protocol_version_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_protocol_version_t* protocol_version)
+{
+    return mavlink_msg_protocol_version_pack(system_id, component_id, msg, protocol_version->version, protocol_version->min_version, protocol_version->max_version, protocol_version->spec_version_hash, protocol_version->library_version_hash);
+}
+
+/**
+ * @brief Encode a protocol_version struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param protocol_version C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_protocol_version_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_protocol_version_t* protocol_version)
+{
+    return mavlink_msg_protocol_version_pack_chan(system_id, component_id, chan, msg, protocol_version->version, protocol_version->min_version, protocol_version->max_version, protocol_version->spec_version_hash, protocol_version->library_version_hash);
+}
+
+/**
+ * @brief Send a protocol_version message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param version  Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
+ * @param min_version  Minimum MAVLink version supported
+ * @param max_version  Maximum MAVLink version supported (set to the same value as version by default)
+ * @param spec_version_hash  The first 8 bytes (not characters printed in hex!) of the git hash.
+ * @param library_version_hash  The first 8 bytes (not characters printed in hex!) of the git hash.
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_protocol_version_send(mavlink_channel_t chan, uint16_t version, uint16_t min_version, uint16_t max_version, const uint8_t *spec_version_hash, const uint8_t *library_version_hash)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN];
+    _mav_put_uint16_t(buf, 0, version);
+    _mav_put_uint16_t(buf, 2, min_version);
+    _mav_put_uint16_t(buf, 4, max_version);
+    _mav_put_uint8_t_array(buf, 6, spec_version_hash, 8);
+    _mav_put_uint8_t_array(buf, 14, library_version_hash, 8);
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, buf, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
+#else
+    mavlink_protocol_version_t packet;
+    packet.version = version;
+    packet.min_version = min_version;
+    packet.max_version = max_version;
+    mav_array_memcpy(packet.spec_version_hash, spec_version_hash, sizeof(uint8_t)*8);
+    mav_array_memcpy(packet.library_version_hash, library_version_hash, sizeof(uint8_t)*8);
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, (const char *)&packet, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
+#endif
+}
+
+/**
+ * @brief Send a protocol_version message
+ * @param chan MAVLink channel to send the message
+ * @param struct The MAVLink struct to serialize
+ */
+static inline void mavlink_msg_protocol_version_send_struct(mavlink_channel_t chan, const mavlink_protocol_version_t* protocol_version)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    mavlink_msg_protocol_version_send(chan, protocol_version->version, protocol_version->min_version, protocol_version->max_version, protocol_version->spec_version_hash, protocol_version->library_version_hash);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, (const char *)protocol_version, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
+#endif
+}
+
+#if MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
+/*
+  This varient of _send() can be used to save stack space by re-using
+  memory from the receive buffer.  The caller provides a
+  mavlink_message_t which is the size of a full mavlink message. This
+  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_protocol_version_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint16_t version, uint16_t min_version, uint16_t max_version, const uint8_t *spec_version_hash, const uint8_t *library_version_hash)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char *buf = (char *)msgbuf;
+    _mav_put_uint16_t(buf, 0, version);
+    _mav_put_uint16_t(buf, 2, min_version);
+    _mav_put_uint16_t(buf, 4, max_version);
+    _mav_put_uint8_t_array(buf, 6, spec_version_hash, 8);
+    _mav_put_uint8_t_array(buf, 14, library_version_hash, 8);
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, buf, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
+#else
+    mavlink_protocol_version_t *packet = (mavlink_protocol_version_t *)msgbuf;
+    packet->version = version;
+    packet->min_version = min_version;
+    packet->max_version = max_version;
+    mav_array_memcpy(packet->spec_version_hash, spec_version_hash, sizeof(uint8_t)*8);
+    mav_array_memcpy(packet->library_version_hash, library_version_hash, sizeof(uint8_t)*8);
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, (const char *)packet, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE PROTOCOL_VERSION UNPACKING
+
+
+/**
+ * @brief Get field version from protocol_version message
+ *
+ * @return  Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
+ */
+static inline uint16_t mavlink_msg_protocol_version_get_version(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint16_t(msg,  0);
+}
+
+/**
+ * @brief Get field min_version from protocol_version message
+ *
+ * @return  Minimum MAVLink version supported
+ */
+static inline uint16_t mavlink_msg_protocol_version_get_min_version(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint16_t(msg,  2);
+}
+
+/**
+ * @brief Get field max_version from protocol_version message
+ *
+ * @return  Maximum MAVLink version supported (set to the same value as version by default)
+ */
+static inline uint16_t mavlink_msg_protocol_version_get_max_version(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint16_t(msg,  4);
+}
+
+/**
+ * @brief Get field spec_version_hash from protocol_version message
+ *
+ * @return  The first 8 bytes (not characters printed in hex!) of the git hash.
+ */
+static inline uint16_t mavlink_msg_protocol_version_get_spec_version_hash(const mavlink_message_t* msg, uint8_t *spec_version_hash)
+{
+    return _MAV_RETURN_uint8_t_array(msg, spec_version_hash, 8,  6);
+}
+
+/**
+ * @brief Get field library_version_hash from protocol_version message
+ *
+ * @return  The first 8 bytes (not characters printed in hex!) of the git hash.
+ */
+static inline uint16_t mavlink_msg_protocol_version_get_library_version_hash(const mavlink_message_t* msg, uint8_t *library_version_hash)
+{
+    return _MAV_RETURN_uint8_t_array(msg, library_version_hash, 8,  14);
+}
+
+/**
+ * @brief Decode a protocol_version message into a struct
+ *
+ * @param msg The message to decode
+ * @param protocol_version C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_protocol_version_decode(const mavlink_message_t* msg, mavlink_protocol_version_t* protocol_version)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    protocol_version->version = mavlink_msg_protocol_version_get_version(msg);
+    protocol_version->min_version = mavlink_msg_protocol_version_get_min_version(msg);
+    protocol_version->max_version = mavlink_msg_protocol_version_get_max_version(msg);
+    mavlink_msg_protocol_version_get_spec_version_hash(msg, protocol_version->spec_version_hash);
+    mavlink_msg_protocol_version_get_library_version_hash(msg, protocol_version->library_version_hash);
+#else
+        uint8_t len = msg->len < MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN? msg->len : MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN;
+        memset(protocol_version, 0, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
+    memcpy(protocol_version, _MAV_PAYLOAD(msg), len);
+#endif
+}

minimal/minimal.h

@@ -24,7 +24,7 @@ extern "C" {
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {{0, 50, 9, 9, 0, 0, 0}}
+#define MAVLINK_MESSAGE_CRCS {{0, 50, 9, 9, 0, 0, 0}, {300, 217, 22, 22, 0, 0, 0}}
 #endif
 
 #include "../protocol.h"
@@ -209,6 +209,16 @@ typedef enum MAV_COMPONENT
 } MAV_COMPONENT;
 #endif
 
+/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries */
+#ifndef HAVE_ENUM_MAV_CMD
+#define HAVE_ENUM_MAV_CMD
+typedef enum MAV_CMD
+{
+   MAV_CMD_REQUEST_PROTOCOL_VERSION=519, /* Request MAVLink protocol version compatibility |1: Request supported protocol versions by all nodes on the network| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)|  */
+   MAV_CMD_ENUM_END=520, /*  | */
+} MAV_CMD;
+#endif
+
 // MAVLINK VERSION
 
 #ifndef MAVLINK_VERSION
@@ -222,6 +232,7 @@ typedef enum MAV_COMPONENT
 
 // MESSAGE DEFINITIONS
 #include "./mavlink_msg_heartbeat.h"
+#include "./mavlink_msg_protocol_version.h"
 
 // base include
 
@@ -230,8 +241,8 @@ typedef enum MAV_COMPONENT
 #define MAVLINK_THIS_XML_IDX 0
 
 #if MAVLINK_THIS_XML_IDX == MAVLINK_PRIMARY_XML_IDX
-# define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT}
-# define MAVLINK_MESSAGE_NAMES {{ "HEARTBEAT", 0 }}
+# define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_PROTOCOL_VERSION}
+# define MAVLINK_MESSAGE_NAMES {{ "HEARTBEAT", 0 }, { "PROTOCOL_VERSION", 300 }}
 # if MAVLINK_COMMAND_24BIT
 #  include "../mavlink_get_info.h"
 # endif

minimal/testsuite.h

@@ -84,9 +84,68 @@ static void mavlink_test_heartbeat(uint8_t system_id, uint8_t component_id, mavl
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_protocol_version(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_PROTOCOL_VERSION >= 256) {
+            return;
+        }
+#endif
+    mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+    mavlink_protocol_version_t packet_in = {
+        17235,17339,17443,{ 151, 152, 153, 154, 155, 156, 157, 158 },{ 175, 176, 177, 178, 179, 180, 181, 182 }
+    };
+    mavlink_protocol_version_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        packet1.version = packet_in.version;
+        packet1.min_version = packet_in.min_version;
+        packet1.max_version = packet_in.max_version;
+        
+        mav_array_memcpy(packet1.spec_version_hash, packet_in.spec_version_hash, sizeof(uint8_t)*8);
+        mav_array_memcpy(packet1.library_version_hash, packet_in.library_version_hash, sizeof(uint8_t)*8);
+        
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
+           // cope with extensions
+           memset(MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN);
+        }
+#endif
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_protocol_version_encode(system_id, component_id, &msg, &packet1);
+    mavlink_msg_protocol_version_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_protocol_version_pack(system_id, component_id, &msg , packet1.version , packet1.min_version , packet1.max_version , packet1.spec_version_hash , packet1.library_version_hash );
+    mavlink_msg_protocol_version_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_protocol_version_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.version , packet1.min_version , packet1.max_version , packet1.spec_version_hash , packet1.library_version_hash );
+    mavlink_msg_protocol_version_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_protocol_version_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_protocol_version_send(MAVLINK_COMM_1 , packet1.version , packet1.min_version , packet1.max_version , packet1.spec_version_hash , packet1.library_version_hash );
+    mavlink_msg_protocol_version_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_minimal(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
     mavlink_test_heartbeat(system_id, component_id, last_msg);
+    mavlink_test_protocol_version(system_id, component_id, last_msg);
 }
 
 #ifdef __cplusplus

minimal/version.h

@@ -7,8 +7,8 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Wed Jul 10 2019"
+#define MAVLINK_BUILD_DATE "Thu Jul 11 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 9
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22
  
 #endif // MAVLINK_VERSION_H

slugs/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Wed Jul 10 2019"
+#define MAVLINK_BUILD_DATE "Thu Jul 11 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

standard/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Wed Jul 10 2019"
+#define MAVLINK_BUILD_DATE "Thu Jul 11 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

test/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Wed Jul 10 2019"
+#define MAVLINK_BUILD_DATE "Thu Jul 11 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
  

uAvionix/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Wed Jul 10 2019"
+#define MAVLINK_BUILD_DATE "Thu Jul 11 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255