Module mavlink_schema

Expand description

The C ABI for MAVLink message shapes: reading and writing a message by field name.

mavlink carries any message’s bytes, which is enough to move traffic but leaves the caller hand-packing payloads against a message definition. This is the layer above: a schema states a message’s fields, and a message reads and writes them by name, so a caller works in custom_mode and lat rather than byte offsets.

Two sources of shape are supported and behave identically. Every message the engine types is published, so pamoja_mavlink_schema_for_id resolves the common dialect with nothing to declare. A message from ArduPilot’s dialect, PX4’s, or a vendor’s private one is described through PamojaMavlinkSchemaBuilder, which puts the fields in wire order and derives the CRC_EXTRA seed, so a caller transcribes a definition as it reads.

Structs§

PamojaMavlinkFieldInfo: One field of a message shape, as read back from a schema.
PamojaMavlinkMessage: A message being written or read field by field against a schema.
PamojaMavlinkSchema: The shape of one message: its id, name, seed, and fields.
PamojaMavlinkSchemaBuilder: Describes a message this build does not type, one field at a time.

Constants§

PAMOJA_MAVLINK_FIELD_CHAR: A char field; an array of these carries text.
PAMOJA_MAVLINK_FIELD_DOUBLE: A double field.
PAMOJA_MAVLINK_FIELD_FLOAT: A float field.
PAMOJA_MAVLINK_FIELD_INT8: An int8_t field.
PAMOJA_MAVLINK_FIELD_INT16: An int16_t field.
PAMOJA_MAVLINK_FIELD_INT32: An int32_t field.
PAMOJA_MAVLINK_FIELD_INT64: An int64_t field.
PAMOJA_MAVLINK_FIELD_UINT8: A uint8_t field.
PAMOJA_MAVLINK_FIELD_UINT16: A uint16_t field.
PAMOJA_MAVLINK_FIELD_UINT32: A uint32_t field.
PAMOJA_MAVLINK_FIELD_UINT64: A uint64_t field.

Functions§

pamoja_mavlink_dialect_add_schema^⚠: Adds a schema’s message to a dialect table, so frames carrying it check.
pamoja_mavlink_message_decode^⚠: Reads a message out of a frame payload.
pamoja_mavlink_message_free^⚠: Releases a message.
pamoja_mavlink_message_get_bytes^⚠: Copies the raw bytes of a byte-wide array field out.
pamoja_mavlink_message_get_float^⚠: Reads a floating-point field.
pamoja_mavlink_message_get_int^⚠: Reads a field as a signed integer.
pamoja_mavlink_message_get_number^⚠: Reads a field as a double, whatever its type.
pamoja_mavlink_message_get_uint^⚠: Reads a field as an unsigned integer.
pamoja_mavlink_message_new^⚠: Creates a message with every field zero.
pamoja_mavlink_message_payload^⚠: Returns a pointer to a message’s payload bytes.
pamoja_mavlink_message_set_bytes^⚠: Writes the raw bytes of a byte-wide array field, zero-padding the rest.
pamoja_mavlink_message_set_float^⚠: Writes a floating-point field.
pamoja_mavlink_message_set_int^⚠: Writes a signed integer into a field.
pamoja_mavlink_message_set_number^⚠: Writes a double into a field, converting it to the field’s type.
pamoja_mavlink_message_set_uint^⚠: Writes an unsigned integer into a field.
pamoja_mavlink_message_to_frame^⚠: Builds a v2 frame carrying a message.
pamoja_mavlink_schema_at^⚠: Returns the shape of the message at a position in the built-in registry.
pamoja_mavlink_schema_builder_build^⚠: Puts the declared fields in wire order and finishes the shape.
pamoja_mavlink_schema_builder_extension^⚠: Adds a MAVLink 2 extension field, in the order the definition declares it.
pamoja_mavlink_schema_builder_field^⚠: Adds a base field, in the order the definition declares it.
pamoja_mavlink_schema_builder_free^⚠: Releases a builder that was never built.
pamoja_mavlink_schema_builder_new^⚠: Starts describing a message.
pamoja_mavlink_schema_count: Returns how many messages this build types.
pamoja_mavlink_schema_crc_extra^⚠: Returns the CRC_EXTRA seed a schema implies.
pamoja_mavlink_schema_field^⚠: Describes one field of a message.
pamoja_mavlink_schema_field_count^⚠: Returns how many fields a message has.
pamoja_mavlink_schema_for_id^⚠: Returns the shape of a message the engine types, by id.
pamoja_mavlink_schema_for_name^⚠: Returns the shape of a message the engine types, by name.
pamoja_mavlink_schema_free^⚠: Releases a schema.
pamoja_mavlink_schema_id^⚠: Returns the id of the message a schema describes.
pamoja_mavlink_schema_name^⚠: Returns the name of the message a schema describes.
pamoja_mavlink_schema_wire_len^⚠: Returns the length of the message on the wire, extensions included.