Michael Shimniok / Mbed 2 deprecated AVC_2012

Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.

Dependencies:   Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo

MAVlink/include/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h@0:826c6171fc1b, 2012-06-20 (annotated)

Committer:
shimniok
Date:
Wed Jun 20 14:57:48 2012 +0000
Revision:
0:826c6171fc1b
Updated documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:826c6171fc1b 1 // MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT 58
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint64_t time_us; ///< Timestamp in micro seconds since unix epoch
shimniok 0:826c6171fc1b 8 float roll_speed; ///< Desired roll angular speed in rad/s
shimniok 0:826c6171fc1b 9 float pitch_speed; ///< Desired pitch angular speed in rad/s
shimniok 0:826c6171fc1b 10 float yaw_speed; ///< Desired yaw angular speed in rad/s
shimniok 0:826c6171fc1b 11 float thrust; ///< Collective thrust, normalized to 0 .. 1
shimniok 0:826c6171fc1b 12
shimniok 0:826c6171fc1b 13 } mavlink_roll_pitch_yaw_speed_thrust_setpoint_t;
shimniok 0:826c6171fc1b 14
shimniok 0:826c6171fc1b 15
shimniok 0:826c6171fc1b 16
shimniok 0:826c6171fc1b 17 /**
shimniok 0:826c6171fc1b 18 * @brief Pack a roll_pitch_yaw_speed_thrust_setpoint message
shimniok 0:826c6171fc1b 19 * @param system_id ID of this system
shimniok 0:826c6171fc1b 20 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 21 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 22 *
shimniok 0:826c6171fc1b 23 * @param time_us Timestamp in micro seconds since unix epoch
shimniok 0:826c6171fc1b 24 * @param roll_speed Desired roll angular speed in rad/s
shimniok 0:826c6171fc1b 25 * @param pitch_speed Desired pitch angular speed in rad/s
shimniok 0:826c6171fc1b 26 * @param yaw_speed Desired yaw angular speed in rad/s
shimniok 0:826c6171fc1b 27 * @param thrust Collective thrust, normalized to 0 .. 1
shimniok 0:826c6171fc1b 28 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 29 */
shimniok 0:826c6171fc1b 30 static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
shimniok 0:826c6171fc1b 31 {
shimniok 0:826c6171fc1b 32 uint16_t i = 0;
shimniok 0:826c6171fc1b 33 msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
shimniok 0:826c6171fc1b 34
shimniok 0:826c6171fc1b 35 i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp in micro seconds since unix epoch
shimniok 0:826c6171fc1b 36 i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s
shimniok 0:826c6171fc1b 37 i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s
shimniok 0:826c6171fc1b 38 i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s
shimniok 0:826c6171fc1b 39 i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
shimniok 0:826c6171fc1b 40
shimniok 0:826c6171fc1b 41 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 42 }
shimniok 0:826c6171fc1b 43
shimniok 0:826c6171fc1b 44 /**
shimniok 0:826c6171fc1b 45 * @brief Pack a roll_pitch_yaw_speed_thrust_setpoint message
shimniok 0:826c6171fc1b 46 * @param system_id ID of this system
shimniok 0:826c6171fc1b 47 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 48 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 49 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 50 * @param time_us Timestamp in micro seconds since unix epoch
shimniok 0:826c6171fc1b 51 * @param roll_speed Desired roll angular speed in rad/s
shimniok 0:826c6171fc1b 52 * @param pitch_speed Desired pitch angular speed in rad/s
shimniok 0:826c6171fc1b 53 * @param yaw_speed Desired yaw angular speed in rad/s
shimniok 0:826c6171fc1b 54 * @param thrust Collective thrust, normalized to 0 .. 1
shimniok 0:826c6171fc1b 55 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 56 */
shimniok 0:826c6171fc1b 57 static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
shimniok 0:826c6171fc1b 58 {
shimniok 0:826c6171fc1b 59 uint16_t i = 0;
shimniok 0:826c6171fc1b 60 msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
shimniok 0:826c6171fc1b 61
shimniok 0:826c6171fc1b 62 i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp in micro seconds since unix epoch
shimniok 0:826c6171fc1b 63 i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s
shimniok 0:826c6171fc1b 64 i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s
shimniok 0:826c6171fc1b 65 i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s
shimniok 0:826c6171fc1b 66 i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
shimniok 0:826c6171fc1b 67
shimniok 0:826c6171fc1b 68 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 69 }
shimniok 0:826c6171fc1b 70
shimniok 0:826c6171fc1b 71 /**
shimniok 0:826c6171fc1b 72 * @brief Encode a roll_pitch_yaw_speed_thrust_setpoint struct into a message
shimniok 0:826c6171fc1b 73 *
shimniok 0:826c6171fc1b 74 * @param system_id ID of this system
shimniok 0:826c6171fc1b 75 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 76 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 77 * @param roll_pitch_yaw_speed_thrust_setpoint C-struct to read the message contents from
shimniok 0:826c6171fc1b 78 */
shimniok 0:826c6171fc1b 79 static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
shimniok 0:826c6171fc1b 80 {
shimniok 0:826c6171fc1b 81 return mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_speed_thrust_setpoint->time_us, roll_pitch_yaw_speed_thrust_setpoint->roll_speed, roll_pitch_yaw_speed_thrust_setpoint->pitch_speed, roll_pitch_yaw_speed_thrust_setpoint->yaw_speed, roll_pitch_yaw_speed_thrust_setpoint->thrust);
shimniok 0:826c6171fc1b 82 }
shimniok 0:826c6171fc1b 83
shimniok 0:826c6171fc1b 84 /**
shimniok 0:826c6171fc1b 85 * @brief Send a roll_pitch_yaw_speed_thrust_setpoint message
shimniok 0:826c6171fc1b 86 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 87 *
shimniok 0:826c6171fc1b 88 * @param time_us Timestamp in micro seconds since unix epoch
shimniok 0:826c6171fc1b 89 * @param roll_speed Desired roll angular speed in rad/s
shimniok 0:826c6171fc1b 90 * @param pitch_speed Desired pitch angular speed in rad/s
shimniok 0:826c6171fc1b 91 * @param yaw_speed Desired yaw angular speed in rad/s
shimniok 0:826c6171fc1b 92 * @param thrust Collective thrust, normalized to 0 .. 1
shimniok 0:826c6171fc1b 93 */
shimniok 0:826c6171fc1b 94 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 95
shimniok 0:826c6171fc1b 96 static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(mavlink_channel_t chan, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
shimniok 0:826c6171fc1b 97 {
shimniok 0:826c6171fc1b 98 mavlink_message_t msg;
shimniok 0:826c6171fc1b 99 mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_us, roll_speed, pitch_speed, yaw_speed, thrust);
shimniok 0:826c6171fc1b 100 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 101 }
shimniok 0:826c6171fc1b 102
shimniok 0:826c6171fc1b 103 #endif
shimniok 0:826c6171fc1b 104 // MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT UNPACKING
shimniok 0:826c6171fc1b 105
shimniok 0:826c6171fc1b 106 /**
shimniok 0:826c6171fc1b 107 * @brief Get field time_us from roll_pitch_yaw_speed_thrust_setpoint message
shimniok 0:826c6171fc1b 108 *
shimniok 0:826c6171fc1b 109 * @return Timestamp in micro seconds since unix epoch
shimniok 0:826c6171fc1b 110 */
shimniok 0:826c6171fc1b 111 static inline uint64_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_us(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 112 {
shimniok 0:826c6171fc1b 113 generic_64bit r;
shimniok 0:826c6171fc1b 114 r.b[7] = (msg->payload)[0];
shimniok 0:826c6171fc1b 115 r.b[6] = (msg->payload)[1];
shimniok 0:826c6171fc1b 116 r.b[5] = (msg->payload)[2];
shimniok 0:826c6171fc1b 117 r.b[4] = (msg->payload)[3];
shimniok 0:826c6171fc1b 118 r.b[3] = (msg->payload)[4];
shimniok 0:826c6171fc1b 119 r.b[2] = (msg->payload)[5];
shimniok 0:826c6171fc1b 120 r.b[1] = (msg->payload)[6];
shimniok 0:826c6171fc1b 121 r.b[0] = (msg->payload)[7];
shimniok 0:826c6171fc1b 122 return (uint64_t)r.ll;
shimniok 0:826c6171fc1b 123 }
shimniok 0:826c6171fc1b 124
shimniok 0:826c6171fc1b 125 /**
shimniok 0:826c6171fc1b 126 * @brief Get field roll_speed from roll_pitch_yaw_speed_thrust_setpoint message
shimniok 0:826c6171fc1b 127 *
shimniok 0:826c6171fc1b 128 * @return Desired roll angular speed in rad/s
shimniok 0:826c6171fc1b 129 */
shimniok 0:826c6171fc1b 130 static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 131 {
shimniok 0:826c6171fc1b 132 generic_32bit r;
shimniok 0:826c6171fc1b 133 r.b[3] = (msg->payload+sizeof(uint64_t))[0];
shimniok 0:826c6171fc1b 134 r.b[2] = (msg->payload+sizeof(uint64_t))[1];
shimniok 0:826c6171fc1b 135 r.b[1] = (msg->payload+sizeof(uint64_t))[2];
shimniok 0:826c6171fc1b 136 r.b[0] = (msg->payload+sizeof(uint64_t))[3];
shimniok 0:826c6171fc1b 137 return (float)r.f;
shimniok 0:826c6171fc1b 138 }
shimniok 0:826c6171fc1b 139
shimniok 0:826c6171fc1b 140 /**
shimniok 0:826c6171fc1b 141 * @brief Get field pitch_speed from roll_pitch_yaw_speed_thrust_setpoint message
shimniok 0:826c6171fc1b 142 *
shimniok 0:826c6171fc1b 143 * @return Desired pitch angular speed in rad/s
shimniok 0:826c6171fc1b 144 */
shimniok 0:826c6171fc1b 145 static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 146 {
shimniok 0:826c6171fc1b 147 generic_32bit r;
shimniok 0:826c6171fc1b 148 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
shimniok 0:826c6171fc1b 149 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
shimniok 0:826c6171fc1b 150 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
shimniok 0:826c6171fc1b 151 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
shimniok 0:826c6171fc1b 152 return (float)r.f;
shimniok 0:826c6171fc1b 153 }
shimniok 0:826c6171fc1b 154
shimniok 0:826c6171fc1b 155 /**
shimniok 0:826c6171fc1b 156 * @brief Get field yaw_speed from roll_pitch_yaw_speed_thrust_setpoint message
shimniok 0:826c6171fc1b 157 *
shimniok 0:826c6171fc1b 158 * @return Desired yaw angular speed in rad/s
shimniok 0:826c6171fc1b 159 */
shimniok 0:826c6171fc1b 160 static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 161 {
shimniok 0:826c6171fc1b 162 generic_32bit r;
shimniok 0:826c6171fc1b 163 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:826c6171fc1b 164 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:826c6171fc1b 165 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:826c6171fc1b 166 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:826c6171fc1b 167 return (float)r.f;
shimniok 0:826c6171fc1b 168 }
shimniok 0:826c6171fc1b 169
shimniok 0:826c6171fc1b 170 /**
shimniok 0:826c6171fc1b 171 * @brief Get field thrust from roll_pitch_yaw_speed_thrust_setpoint message
shimniok 0:826c6171fc1b 172 *
shimniok 0:826c6171fc1b 173 * @return Collective thrust, normalized to 0 .. 1
shimniok 0:826c6171fc1b 174 */
shimniok 0:826c6171fc1b 175 static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 176 {
shimniok 0:826c6171fc1b 177 generic_32bit r;
shimniok 0:826c6171fc1b 178 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:826c6171fc1b 179 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:826c6171fc1b 180 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:826c6171fc1b 181 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:826c6171fc1b 182 return (float)r.f;
shimniok 0:826c6171fc1b 183 }
shimniok 0:826c6171fc1b 184
shimniok 0:826c6171fc1b 185 /**
shimniok 0:826c6171fc1b 186 * @brief Decode a roll_pitch_yaw_speed_thrust_setpoint message into a struct
shimniok 0:826c6171fc1b 187 *
shimniok 0:826c6171fc1b 188 * @param msg The message to decode
shimniok 0:826c6171fc1b 189 * @param roll_pitch_yaw_speed_thrust_setpoint C-struct to decode the message contents into
shimniok 0:826c6171fc1b 190 */
shimniok 0:826c6171fc1b 191 static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
shimniok 0:826c6171fc1b 192 {
shimniok 0:826c6171fc1b 193 roll_pitch_yaw_speed_thrust_setpoint->time_us = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_us(msg);
shimniok 0:826c6171fc1b 194 roll_pitch_yaw_speed_thrust_setpoint->roll_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(msg);
shimniok 0:826c6171fc1b 195 roll_pitch_yaw_speed_thrust_setpoint->pitch_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(msg);
shimniok 0:826c6171fc1b 196 roll_pitch_yaw_speed_thrust_setpoint->yaw_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(msg);
shimniok 0:826c6171fc1b 197 roll_pitch_yaw_speed_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(msg);
shimniok 0:826c6171fc1b 198 }