feat: support 32 bit system IDs and extended targets - #4
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Implements MAVLINK_IFLAG_SYSID32 and MAVLINK_IFLAG_TARGETTED as proposed in ArduPilot/pymavlink#1229, which makes the MAVLink 2 header variable length (10 to 18 bytes) instead of a fixed 10. HEADER_SIZE was doing double duty as both the wire header length and the offset of the payload within the backing memory. Field offsets are now payload relative and the payload offset is added at access time from Header::size(), so the header can grow without moving the fields. Only widens when the value needs it: a system ID up to 255 sets no flags, so peers that predate this keep receiving parsable frames. The golden frames in tests/Sysid32.cpp are the C implementation's output copied from the pymavlink PR, covering all four sysid/target width combinations plus a signed frame.
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Implements MAVLINK_IFLAG_SYSID32 and MAVLINK_IFLAG_TARGETTED as proposed in ArduPilot/pymavlink#1229, which makes the MAVLink 2 header variable length (10 to 18 bytes) instead of a fixed 10.
HEADER_SIZE was doing double duty as both the wire header length and the offset of the payload within the backing memory. Field offsets are now payload relative and the payload offset is added at access time from Header::size(), so the header can grow without moving the fields.
Only widens when the value needs it: a system ID up to 255 sets no flags, so peers that predate this keep receiving parsable frames.
The golden frames in tests/Sysid32.cpp are the C implementation's output copied from the pymavlink PR, covering all four sysid/target width combinations plus a signed frame.