Module mavlink_protocol

Expand description

The C ABI for the MAVLink service protocols: mission transfer, commands, and offboard setpoints.

A frame carries one message; a real exchange with an autopilot is a sequence of them with rules about order, matching, and retransmission. The machines here hold those rules and nothing else: no IO, no timers, no allocation beyond the handle. A caller feeds each one the frames off its link and sends back what the machine hands it, applying its own timing policy for timeouts and retransmission.

Every machine takes a whole frame and answers with a whole frame, so the payload decoding, message-id dispatch, and reply encoding happen once, here, rather than in each caller. A frame a machine does not handle is reported as ignored rather than as an error, so one link’s traffic can be routed through several machines in turn.

Structs§

PamojaMavlinkCommand: Tracks one command awaiting its acknowledgement.
PamojaMavlinkMissionReceiver: Requests a plan’s items in order and collects them, ending with an acknowledgement.
PamojaMavlinkMissionSender: Holds a plan and answers a receiver’s requests for its items.

Constants§

PAMOJA_MAVLINK_ACK_FINAL: The command finished; the value is its MAV_RESULT.
PAMOJA_MAVLINK_ACK_IN_PROGRESS: The command is still running; the value is the reported progress percent, or 255 when the autopilot does not report one.
PAMOJA_MAVLINK_ACK_UNRELATED: An acknowledgement was for a different command; keep waiting.
PAMOJA_MAVLINK_MAX_RETRIES: The number of times a request is retransmitted before a transfer is abandoned, as the mission protocol recommends.
PAMOJA_MAVLINK_RECEIVER_ACK: A mission receiver answered with the acknowledgement that ends the transfer.
PAMOJA_MAVLINK_RECEIVER_REQUEST: A mission receiver answered with a request for the next item.
PAMOJA_MAVLINK_SENDER_FINISHED: A mission sender saw the receiver’s acknowledgement; the transfer is over.
PAMOJA_MAVLINK_SENDER_REPLY: A mission sender answered with a frame to send.
PAMOJA_MAVLINK_STEP_IGNORED: The frame was not one this machine handles; nothing was produced.
PAMOJA_MAVLINK_TYPEMASK_ACCELERATION: Use the acceleration fields of a setpoint.
PAMOJA_MAVLINK_TYPEMASK_FORCE: Treat the acceleration fields as a force.
PAMOJA_MAVLINK_TYPEMASK_POSITION: Use the position fields of a setpoint.
PAMOJA_MAVLINK_TYPEMASK_VELOCITY: Use the velocity fields of a setpoint.
PAMOJA_MAVLINK_TYPEMASK_YAW: Use the yaw field of a setpoint.
PAMOJA_MAVLINK_TYPEMASK_YAW_RATE: Use the yaw rate field of a setpoint.

Functions§

pamoja_mavlink_command_confirmation^⚠: Returns the confirmation count to stamp on the command being sent.
pamoja_mavlink_command_free^⚠: Releases a command tracker.
pamoja_mavlink_command_id^⚠: Returns the command id being tracked.
pamoja_mavlink_command_new: Starts tracking a command.
pamoja_mavlink_command_on_frame^⚠: Classifies an incoming frame against the command in flight.
pamoja_mavlink_command_on_timeout^⚠: Records a timeout and reports whether the command may be resent.
pamoja_mavlink_mission_receiver_expected^⚠: Returns the next sequence number the receiver expects.
pamoja_mavlink_mission_receiver_free^⚠: Releases a receiver.
pamoja_mavlink_mission_receiver_is_complete^⚠: Reports whether the transfer has finished.
pamoja_mavlink_mission_receiver_new: Creates a receiver for a plan from a target vehicle.
pamoja_mavlink_mission_receiver_on_frame^⚠: Handles an incoming frame, if it is one this transfer is waiting for.
pamoja_mavlink_mission_receiver_request_list^⚠: Builds the frame that starts a download.
pamoja_mavlink_mission_sender_add_item^⚠: Appends an item to the plan.
pamoja_mavlink_mission_sender_count^⚠: Builds the frame that opens an upload.
pamoja_mavlink_mission_sender_free^⚠: Releases a sender.
pamoja_mavlink_mission_sender_len^⚠: Returns the number of items in the plan.
pamoja_mavlink_mission_sender_new: Creates a sender for a plan bound for a target vehicle, with no items yet.
pamoja_mavlink_mission_sender_on_frame^⚠: Handles an incoming frame, if it is one this transfer answers.
pamoja_mavlink_offboard_global_position^⚠: Builds a global-frame position setpoint frame.
pamoja_mavlink_offboard_local_position^⚠: Builds a local-frame position setpoint frame.
pamoja_mavlink_offboard_local_velocity^⚠: Builds a local-frame velocity setpoint frame.
pamoja_mavlink_offboard_type_mask: Builds a setpoint type_mask from the fields to use.