update Mavlink usage to match PX4 and switch to development

PX4 · Nov 6, 2021 · 1c8c919 · 1c8c919
1 parent 6fa6ec7
commit 1c8c919
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Showing 8 changed files with 12 additions and 9 deletions.
diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml
@@ -23,7 +23,7 @@ jobs:
     - name: submodule update
       run: git submodule update --init --recursive
     - name: Install latest mavlink
-      run: git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink/v2.0 && rm -rf /usr/local/include/mavlink/v2.0/.git
+      run: git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink && rm -rf /usr/local/include/mavlink/.git
     - name: Cmake Build
       run: |
         mkdir build

diff --git a/.github/workflows/build_test_macos.yml b/.github/workflows/build_test_macos.yml
@@ -22,7 +22,7 @@ jobs:
       run: |
         brew update;
         git clone -b release-1.10.0 https://github.com/google/googletest
-        git clone https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink/v2.0
+        git clone https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink
     - name: Install
       run: |
         pushd googletest

diff --git a/cmake/FindMAVLink.cmake b/cmake/FindMAVLink.cmake
@@ -20,6 +20,7 @@ set(_MAVLINK_EXTRA_SEARCH_HINTS
     ../../mavlink/
     ../mavlink/
     ${CATKIN_DEVEL_PREFIX}/
+    ${CMAKE_CURRENT_BINARY_DIR}/../mavlink/
     )
 
 set(_MAVLINK_EXTRA_SEARCH_PATHS
@@ -29,16 +30,16 @@ set(_MAVLINK_EXTRA_SEARCH_PATHS
 
 # look for in the hints first
 find_path(_MAVLINK_INCLUDE_DIR
-    NAMES mavlink/v1.0/mavlink_types.h mavlink/v2.0/mavlink_types.h
+    NAMES mavlink_types.h
     PATH_SUFFIXES include
     HINTS ${_MAVLINK_EXTRA_SEARCH_HINTS}
     NO_DEFAULT_PATH
     )
 
 # look for in the hard-coded paths
 find_path(_MAVLINK_INCLUDE_DIR
-    NAMES mavlink/v1.0/mavlink_types.h mavlink/v2.0/mavlink_types.h
-    PATH_SUFFIXES include
+    NAMES mavlink_types.h
+    PATH_SUFFIXES include/mavlink
     PATHS ${_MAVLINK_EXTRA_SEARCH_PATHS}
     NO_CMAKE_PATH
     NO_CMAKE_ENVIRONMENT_PATH

diff --git a/include/gazebo_camera_manager_plugin.h b/include/gazebo_camera_manager_plugin.h
@@ -18,7 +18,7 @@
 
 #include <string>
 #include <opencv2/opencv.hpp>
-#include <mavlink/v2.0/common/mavlink.h>
+#include <development/mavlink.h>
 #include <gazebo/common/Plugin.hh>
 #include <gazebo/sensors/CameraSensor.hh>
 #include <gazebo/gazebo.hh>

diff --git a/include/gazebo_gimbal_controller_plugin.hh b/include/gazebo_gimbal_controller_plugin.hh
@@ -36,7 +36,7 @@
 #include <gazebo/util/system.hh>
 #include <gazebo/sensors/sensors.hh>
 #include <ignition/math.hh>
-#include <mavlink/v2.0/common/mavlink.h>
+#include <development/mavlink.h>
 
 namespace gazebo
 {

diff --git a/include/mavlink_interface.h b/include/mavlink_interface.h
@@ -51,7 +51,7 @@
 #include <Eigen/Eigen>
 #include<Eigen/StdVector>
 
-#include <mavlink/v2.0/common/mavlink.h>
+#include <development/mavlink.h>
 #include "msgbuffer.h"
 
 static const uint32_t kDefaultMavlinkUdpPort = 14560;

diff --git a/include/msgbuffer.h b/include/msgbuffer.h
@@ -23,7 +23,7 @@
 #pragma once
 
 #include <cassert>
-#include "mavlink/v2.0/common/mavlink.h"
+#include <development/mavlink.h>
 
 namespace gazebo {
 /**

diff --git a/src/gazebo_camera_manager_plugin.cpp b/src/gazebo_camera_manager_plugin.cpp
@@ -24,6 +24,8 @@
 #include <boost/algorithm/string.hpp>
 #include <opencv2/opencv.hpp>
 
+#include <development/mavlink.h>
+
 using namespace std;
 using namespace gazebo;
 using namespace cv;