pamoja-mavlink 0.1.17

MAVLink for pamoja: build, parse, and sign v1/v2 frames (CRC-16/MCRF4XX, per-message CRC_EXTRA, MAVLink 2 SHA-256 signing), a typed common dialect with MAVLink 2 extension fields, the mission, command, and offboard protocols as sans-IO state machines, and a vehicle modelled as a pamoja Device driven over real serial, UDP, and TCP links. Hand-written from the mavlink.io spec, no_std and allocation-free at the core, and exercised against ArduPilot and PX4 SITL.
Documentation 
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//! A useful subset of the common-dialect enumerations, as named constants.
//!
//! MAVLink enum fields ride on the wire as plain integers, so the typed messages store
//! them as integers and these constants give the common values readable names. They are
//! grouped by enum; only the values a ground station and an autopilot reach for most often
//! are included, and any other value a field carries is still valid.

#![allow(missing_docs)]

/// `MAV_TYPE`: the kind of vehicle or component a [`Heartbeat`](super::Heartbeat) describes.
pub mod mav_type {
    pub const GENERIC: u8 = 0;
    pub const FIXED_WING: u8 = 1;
    pub const QUADROTOR: u8 = 2;
    pub const COAXIAL: u8 = 3;
    pub const HELICOPTER: u8 = 4;
    pub const ANTENNA_TRACKER: u8 = 5;
    pub const GCS: u8 = 6;
    pub const HEXAROTOR: u8 = 13;
    pub const OCTOROTOR: u8 = 14;
    pub const SUBMARINE: u8 = 12;
    pub const GROUND_ROVER: u8 = 10;
    pub const SURFACE_BOAT: u8 = 11;
    pub const ONBOARD_CONTROLLER: u8 = 18;
}

/// `MAV_AUTOPILOT`: which autopilot stack a [`Heartbeat`](super::Heartbeat) comes from.
pub mod mav_autopilot {
    pub const GENERIC: u8 = 0;
    pub const ARDUPILOTMEGA: u8 = 3;
    pub const PX4: u8 = 12;
    pub const INVALID: u8 = 8;
}

/// `MAV_STATE`: the system status carried by a [`Heartbeat`](super::Heartbeat).
pub mod mav_state {
    pub const UNINIT: u8 = 0;
    pub const BOOT: u8 = 1;
    pub const CALIBRATING: u8 = 2;
    pub const STANDBY: u8 = 3;
    pub const ACTIVE: u8 = 4;
    pub const CRITICAL: u8 = 5;
    pub const EMERGENCY: u8 = 6;
    pub const POWEROFF: u8 = 7;
    pub const FLIGHT_TERMINATION: u8 = 8;
}

/// `MAV_MODE_FLAG`: bits of the base mode field of a [`Heartbeat`](super::Heartbeat).
pub mod mav_mode_flag {
    pub const CUSTOM_MODE_ENABLED: u8 = 1;
    pub const TEST_ENABLED: u8 = 2;
    pub const AUTO_ENABLED: u8 = 4;
    pub const GUIDED_ENABLED: u8 = 8;
    pub const STABILIZE_ENABLED: u8 = 16;
    pub const HIL_ENABLED: u8 = 32;
    pub const MANUAL_INPUT_ENABLED: u8 = 64;
    pub const SAFETY_ARMED: u8 = 128;
}

/// `MAV_CMD`: command ids for [`CommandLong`](super::CommandLong) and [`CommandInt`](super::CommandInt).
pub mod mav_cmd {
    pub const NAV_WAYPOINT: u16 = 16;
    pub const NAV_LOITER_UNLIM: u16 = 17;
    pub const NAV_RETURN_TO_LAUNCH: u16 = 20;
    pub const NAV_LAND: u16 = 21;
    pub const NAV_TAKEOFF: u16 = 22;
    pub const DO_SET_MODE: u16 = 176;
    pub const DO_SET_HOME: u16 = 179;
    pub const DO_SET_SERVO: u16 = 183;
    pub const MISSION_START: u16 = 300;
    pub const COMPONENT_ARM_DISARM: u16 = 400;
    pub const SET_MESSAGE_INTERVAL: u16 = 511;
    pub const REQUEST_MESSAGE: u16 = 512;
}

/// `MAV_RESULT`: the outcome a [`CommandAck`](super::CommandAck) reports.
pub mod mav_result {
    pub const ACCEPTED: u8 = 0;
    pub const TEMPORARILY_REJECTED: u8 = 1;
    pub const DENIED: u8 = 2;
    pub const UNSUPPORTED: u8 = 3;
    pub const FAILED: u8 = 4;
    pub const IN_PROGRESS: u8 = 5;
    pub const CANCELLED: u8 = 6;
}

/// `MAV_MISSION_RESULT`: the outcome a [`MissionAck`](super::MissionAck) reports.
pub mod mav_mission_result {
    pub const ACCEPTED: u8 = 0;
    pub const ERROR: u8 = 1;
    pub const UNSUPPORTED_FRAME: u8 = 2;
    pub const UNSUPPORTED: u8 = 3;
    pub const NO_SPACE: u8 = 4;
    pub const INVALID: u8 = 5;
    pub const INVALID_PARAM1: u8 = 6;
    pub const INVALID_PARAM2: u8 = 7;
    pub const INVALID_PARAM3: u8 = 8;
    pub const INVALID_PARAM4: u8 = 9;
    pub const INVALID_PARAM5_X: u8 = 10;
    pub const INVALID_PARAM6_Y: u8 = 11;
    pub const INVALID_PARAM7: u8 = 12;
    pub const INVALID_SEQUENCE: u8 = 13;
    pub const DENIED: u8 = 14;
    pub const OPERATION_CANCELLED: u8 = 15;
}

/// `MAV_FRAME`: the coordinate frame of a mission item or position target.
pub mod mav_frame {
    pub const GLOBAL: u8 = 0;
    pub const LOCAL_NED: u8 = 1;
    pub const MISSION: u8 = 2;
    pub const GLOBAL_RELATIVE_ALT: u8 = 3;
    pub const GLOBAL_INT: u8 = 5;
    pub const GLOBAL_RELATIVE_ALT_INT: u8 = 6;
}

/// `MAV_MISSION_TYPE`: which plan a mission transfer carries, in the `mission_type` field of
/// the MISSION_* messages.
pub mod mav_mission_type {
    pub const MISSION: u8 = 0;
    pub const FENCE: u8 = 1;
    pub const RALLY: u8 = 2;
    pub const ALL: u8 = 255;
}

/// `POSITION_TARGET_TYPEMASK`: the bits of the `type_mask` field of
/// [`SetPositionTargetLocalNed`](super::SetPositionTargetLocalNed) and
/// [`SetPositionTargetGlobalInt`](super::SetPositionTargetGlobalInt).
///
/// A set bit tells the vehicle to ignore that dimension of the setpoint, so a position-only
/// setpoint sets the velocity, acceleration, yaw, and yaw-rate ignore bits. `FORCE_SET`
/// reinterprets the acceleration fields as a force setpoint.
pub mod position_target_typemask {
    pub const X_IGNORE: u16 = 1;
    pub const Y_IGNORE: u16 = 2;
    pub const Z_IGNORE: u16 = 4;
    pub const VX_IGNORE: u16 = 8;
    pub const VY_IGNORE: u16 = 16;
    pub const VZ_IGNORE: u16 = 32;
    pub const AX_IGNORE: u16 = 64;
    pub const AY_IGNORE: u16 = 128;
    pub const AZ_IGNORE: u16 = 256;
    pub const FORCE_SET: u16 = 512;
    pub const YAW_IGNORE: u16 = 1024;
    pub const YAW_RATE_IGNORE: u16 = 2048;
}