Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
Diff: MAVlink/include/common/mavlink_msg_gps_raw_ugv.h
- Revision:
- 0:826c6171fc1b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_gps_raw_ugv.h Wed Jun 20 14:57:48 2012 +0000 @@ -0,0 +1,266 @@ +// MESSAGE GPS_RAW_UGV PACKING + +#define MAVLINK_MSG_ID_GPS_RAW_UGV 86 + +typedef struct __mavlink_gps_raw_ugv_t +{ + uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + double lat; ///< Latitude in 1E15 degrees + double lon; ///< Longitude in 1E15 degrees + float eph; ///< GPS HDOP + float epv; ///< GPS VDOP + float v; ///< GPS ground speed + float hdg; ///< Compass heading in degrees, 0..360 degrees + +} mavlink_gps_raw_ugv_t; + + +/** + * @brief Pack a gps_raw message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + * @param lat Latitude in degrees + * @param lon Longitude in degrees + * @param eph GPS HDOP + * @param epv GPS VDOP + * @param v GPS ground speed + * @param hdg Compass heading in degrees, 0..360 degrees + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_raw_ugv_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, uint8_t fix_type, double lat, double lon, float eph, float epv, float v, float hdg) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_GPS_RAW_UGV; + + i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) + i += put_uint8_t_by_index(fix_type, i, msg->payload); // 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + i += put_double_by_index(lat, i, msg->payload); // Latitude in degrees + i += put_double_by_index(lon, i, msg->payload); // Longitude in degrees + i += put_float_by_index(eph, i, msg->payload); // GPS HDOP + i += put_float_by_index(epv, i, msg->payload); // GPS VDOP + i += put_float_by_index(v, i, msg->payload); // GPS ground speed + i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a gps_raw message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + * @param lat Latitude in degrees + * @param lon Longitude in degrees + * @param eph GPS HDOP + * @param epv GPS VDOP + * @param v GPS ground speed + * @param hdg Compass heading in degrees, 0..360 degrees + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_raw_ugv_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, uint8_t fix_type, double lat, double lon, float eph, float epv, float v, float hdg) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_GPS_RAW_UGV; + + i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) + i += put_uint8_t_by_index(fix_type, i, msg->payload); // 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + i += put_double_by_index(lat, i, msg->payload); // Latitude in degrees + i += put_double_by_index(lon, i, msg->payload); // Longitude in degrees + i += put_float_by_index(eph, i, msg->payload); // GPS HDOP + i += put_float_by_index(epv, i, msg->payload); // GPS VDOP + i += put_float_by_index(v, i, msg->payload); // GPS ground speed + i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a gps_raw struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param gps_raw C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_gps_raw_ugv_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_ugv_t* gps_raw) +{ + return mavlink_msg_gps_raw_ugv_pack(system_id, component_id, msg, gps_raw->usec, gps_raw->fix_type, gps_raw->lat, gps_raw->lon, gps_raw->eph, gps_raw->epv, gps_raw->v, gps_raw->hdg); +} + +/** + * @brief Send a gps_raw message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + * @param lat Latitude in degrees + * @param lon Longitude in degrees + * @param eph GPS HDOP + * @param epv GPS VDOP + * @param v GPS ground speed + * @param hdg Compass heading in degrees, 0..360 degrees + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_gps_raw_ugv_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, double lat, double lon, float eph, float epv, float v, float hdg) +{ + mavlink_message_t msg; + mavlink_msg_gps_raw_ugv_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, fix_type, lat, lon, eph, epv, v, hdg); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE GPS_RAW UNPACKING + +/** + * @brief Get field usec from gps_raw message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_gps_raw_ugv_get_usec(const mavlink_message_t* msg) +{ + generic_64bit r; + r.b[7] = (msg->payload)[0]; + r.b[6] = (msg->payload)[1]; + r.b[5] = (msg->payload)[2]; + r.b[4] = (msg->payload)[3]; + r.b[3] = (msg->payload)[4]; + r.b[2] = (msg->payload)[5]; + r.b[1] = (msg->payload)[6]; + r.b[0] = (msg->payload)[7]; + return (uint64_t)r.ll; +} + +/** + * @brief Get field fix_type from gps_raw message + * + * @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + */ +static inline uint8_t mavlink_msg_gps_raw_ugv_get_fix_type(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload+sizeof(uint64_t))[0]; +} + +/** + * @brief Get field lat from gps_raw message + * + * @return Latitude in degrees + */ +static inline double mavlink_msg_gps_raw_ugv_get_lat(const mavlink_message_t* msg) +{ + generic_64bit r; + r.b[7] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[0]; + r.b[6] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[1]; + r.b[5] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[2]; + r.b[4] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[3]; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[4]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[5]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[6]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[7]; + return (double)r.d; +} + +/** + * @brief Get field lon from gps_raw message + * + * @return Longitude in degrees + */ +static inline double mavlink_msg_gps_raw_ugv_get_lon(const mavlink_message_t* msg) +{ + generic_64bit r; + r.b[7] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double))[0]; + r.b[6] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double))[1]; + r.b[5] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double))[2]; + r.b[4] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double))[3]; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double))[4]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double))[5]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double))[6]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double))[7]; + return (double)r.d; +} + +/** + * @brief Get field eph from gps_raw message + * + * @return GPS HDOP + */ +static inline float mavlink_msg_gps_raw_ugv_get_eph(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field epv from gps_raw message + * + * @return GPS VDOP + */ +static inline float mavlink_msg_gps_raw_ugv_get_epv(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field v from gps_raw message + * + * @return GPS ground speed + */ +static inline float mavlink_msg_gps_raw_ugv_get_v(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field hdg from gps_raw message + * + * @return Compass heading in degrees, 0..360 degrees + */ +static inline float mavlink_msg_gps_raw_ugv_get_hdg(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Decode a gps_raw message into a struct + * + * @param msg The message to decode + * @param gps_raw C-struct to decode the message contents into + */ +static inline void mavlink_msg_gps_raw_ugv_decode(const mavlink_message_t* msg, mavlink_gps_raw_ugv_t* gps_raw) +{ + gps_raw->usec = mavlink_msg_gps_raw_ugv_get_usec(msg); + gps_raw->fix_type = mavlink_msg_gps_raw_ugv_get_fix_type(msg); + gps_raw->lat = mavlink_msg_gps_raw_ugv_get_lat(msg); + gps_raw->lon = mavlink_msg_gps_raw_ugv_get_lon(msg); + gps_raw->eph = mavlink_msg_gps_raw_ugv_get_eph(msg); + gps_raw->epv = mavlink_msg_gps_raw_ugv_get_epv(msg); + gps_raw->v = mavlink_msg_gps_raw_ugv_get_v(msg); + gps_raw->hdg = mavlink_msg_gps_raw_ugv_get_hdg(msg); +}