autogenerated headers for rev...

autogenerated headers for rev https://github.com/mavlink/mavlink/tree/9503d432024fea903f85b25b7d8d50465235087c

common/testsuite.h

@@ -10232,6 +10232,62 @@ static void mavlink_test_orbit_execution_status(uint8_t system_id, uint8_t compo
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_wheel_distance(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_WHEEL_DISTANCE >= 256) {
+            return;
+        }
+#endif
+    mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+    mavlink_wheel_distance_t packet_in = {
+        93372036854775807ULL,{ 179.0, 180.0, 181.0, 182.0, 183.0, 184.0, 185.0, 186.0, 187.0, 188.0, 189.0, 190.0, 191.0, 192.0, 193.0, 194.0 },157
+    };
+    mavlink_wheel_distance_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        packet1.time_usec = packet_in.time_usec;
+        packet1.count = packet_in.count;
+        
+        mav_array_memcpy(packet1.distance, packet_in.distance, sizeof(double)*16);
+        
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
+           // cope with extensions
+           memset(MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN);
+        }
+#endif
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_wheel_distance_encode(system_id, component_id, &msg, &packet1);
+    mavlink_msg_wheel_distance_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_wheel_distance_pack(system_id, component_id, &msg , packet1.time_usec , packet1.count , packet1.distance );
+    mavlink_msg_wheel_distance_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_wheel_distance_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.count , packet1.distance );
+    mavlink_msg_wheel_distance_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_wheel_distance_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_wheel_distance_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.count , packet1.distance );
+    mavlink_msg_wheel_distance_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);
@@ -10402,6 +10458,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
     mavlink_test_utm_global_position(system_id, component_id, last_msg);
     mavlink_test_debug_float_array(system_id, component_id, last_msg);
     mavlink_test_orbit_execution_status(system_id, component_id, last_msg);
+    mavlink_test_wheel_distance(system_id, component_id, last_msg);
 }
 
 #ifdef __cplusplus

message_definitions/common.xml

@@ -5009,5 +5009,12 @@
       <field type="int32_t" name="y">Y coordinate of center point.  Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.</field>
       <field type="float" name="z" units="m">Altitude of center point. Coordinate system depends on frame field.</field>
     </message>
+    <!-- Rover specific messages -->
+    <message id="9000" name="WHEEL_DISTANCE">
+      <description>Cumulative distance traveled for each reported wheel.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (synced to UNIX time or since system boot).</field>
+      <field type="uint8_t" name="count">Number of wheels reported.</field>
+      <field type="double[16]" name="distance" units="m">Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.</field>
+    </message>
   </messages>
 </mavlink>