src/main/msp/msp_protocol_v2_sensor_msg.h

   1 /*
   2  * This file is part of INAV Project.
   3  *
   4  * This Source Code Form is subject to the terms of the Mozilla Public
   5  * License, v. 2.0. If a copy of the MPL was not distributed with this file,
   6  * You can obtain one at http://mozilla.org/MPL/2.0/.
   7  *
   8  * Alternatively, the contents of this file may be used under the terms
   9  * of the GNU General Public License Version 3, as described below:
  10  *
  11  * This file is free software: you may copy, redistribute and/or modify
  12  * it under the terms of the GNU General Public License as published by the
  13  * Free Software Foundation, either version 3 of the License, or (at your
  14  * option) any later version.
  15  *
  16  * This file is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
  19  * Public License for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License
  22  * along with this program. If not, see http://www.gnu.org/licenses/.
  23  */
  24
  25 #pragma once
  26
  27 typedef struct __attribute__((packed)) {
  28     uint8_t quality;    // [0;255]
  29     int32_t motionX;
  30     int32_t motionY;
  31 } mspSensorOpflowDataMessage_t;
  32
  33 typedef struct __attribute__((packed)) {
  34     uint8_t quality;    // [0;255]
  35     int32_t distanceMm; // Negative value for out of range
  36 } mspSensorRangefinderDataMessage_t;
  37
  38 typedef struct __attribute__((packed)) {
  39     uint8_t  instance;                  // sensor instance number to support multi-sensor setups
  40     uint16_t gpsWeek;                   // GPS week, 0xFFFF if not available
  41     uint32_t msTOW;
  42     uint8_t  fixType;
  43     uint8_t  satellitesInView;
  44     uint16_t horizontalPosAccuracy;     // [cm]
  45     uint16_t verticalPosAccuracy;       // [cm]
  46     uint16_t horizontalVelAccuracy;     // [cm/s]
  47     uint16_t hdop;
  48     int32_t  longitude;
  49     int32_t  latitude;
  50     int32_t  mslAltitude;       // cm
  51     int32_t  nedVelNorth;       // cm/s
  52     int32_t  nedVelEast;
  53     int32_t  nedVelDown;
  54     uint16_t groundCourse;      // deg * 100, 0..36000
  55     uint16_t trueYaw;           // deg * 100, values of 0..36000 are valid. 65535 = no data available
  56     uint16_t year;
  57     uint8_t  month;
  58     uint8_t  day;
  59     uint8_t  hour;
  60     uint8_t  min;
  61     uint8_t  sec;
  62 } mspSensorGpsDataMessage_t;
  63
  64 typedef struct __attribute__((packed)) {
  65     uint8_t  instance;
  66     uint32_t timeMs;
  67     float    pressurePa;
  68     int16_t  temp; // centi-degrees C
  69 } mspSensorBaroDataMessage_t;
  70
  71 typedef struct __attribute__((packed)) {
  72     uint8_t  instance;
  73     uint32_t timeMs;
  74     float    diffPressurePa;
  75     int16_t  temp;              // centi-degrees C
  76 } mspSensorAirspeedDataMessage_t;
  77
  78 typedef struct __attribute__((packed)) {
  79     uint8_t  instance;
  80     uint32_t timeMs;
  81     int16_t  magX; // mGauss, front
  82     int16_t  magY; // mGauss, right
  83     int16_t  magZ; // mGauss, down
  84 } mspSensorCompassDataMessage_t;