I'm just starting out with trying to hang some home-brew electronics on the APM's telemetry MAVlink but I'm having great difficulty piecing together the infos I'm looking for.For example, just trying to decode the MAVlink heartbeat packet, all search roads seem to lead me here:https://pixhawk.ethz.ch/mavlink/#HEARTBEATBut within that description it says:base_mode uint8_t System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.hYet if I inspect the file: mavlink_types.h (held in numerous code repositories) there doesn't appear to be any reference to MAV_MODE_FLAG ENUM.This is pretty typical of the kind of issues I'm having so I'm hoping that if someone can explain this then I might make better progress on everything else. BTW I'm getting the impression that this single byte mode flag is depreciated and the custom mode 32-bit flagword is used instead. But this is similarly obscure in terms of its definition.Even if nobody can help clarify the specifics here, I would greatly appreciate a vector to the reference material that best documents this stuff.
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I eventually found the description of the flag bits in: \GCS_MAVLink\include\mavlink\v1.0\common.h
So I guess this is a base mode "common" to all AP's and the 32-bit custom mode depends on AP type (rotary/fixed wing)?
To confuse me further the 32-bit custom mode values appear to be packed in a different order to the descriptions given in the link above. I had to find an example of source code that actually stuffs the message packet payload to discover this. From that I can see that values are packed in descending order of word length - presumable for word aligned access?
I can't find any docs describing the true byte order other than by looking a the various source codes for flight controllers. Is this the actual standard of documentation or am I missing a big chunk?
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I eventually found the description of the flag bits in: \GCS_MAVLink\include\mavlink\v1.0\common.h
So I guess this is a base mode "common" to all AP's and the 32-bit custom mode depends on AP type (rotary/fixed wing)?
To confuse me further the 32-bit custom mode values appear to be packed in a different order to the descriptions given in the link above. I had to find an example of source code that actually stuffs the message packet payload to discover this. From that I can see that values are packed in descending order of word length - presumable for word aligned access?
I can't find any docs describing the true byte order other than by looking a the various source codes for flight controllers. Is this the actual standard of documentation or am I missing a big chunk?