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/pixhawk/mavlink_msg_position_control_setpoint.h
- Revision:
- 0:826c6171fc1b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/pixhawk/mavlink_msg_position_control_setpoint.h Wed Jun 20 14:57:48 2012 +0000 @@ -0,0 +1,192 @@ +// MESSAGE POSITION_CONTROL_SETPOINT PACKING + +#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT 121 + +typedef struct __mavlink_position_control_setpoint_t +{ + uint16_t id; ///< ID of waypoint, 0 for plain position + float x; ///< x position + float y; ///< y position + float z; ///< z position + float yaw; ///< yaw orientation in radians, 0 = NORTH + +} mavlink_position_control_setpoint_t; + + + +/** + * @brief Pack a position_control_setpoint 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 id ID of waypoint, 0 for plain position + * @param x x position + * @param y y position + * @param z z position + * @param yaw yaw orientation in radians, 0 = NORTH + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_position_control_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float yaw) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT; + + i += put_uint16_t_by_index(id, i, msg->payload); // ID of waypoint, 0 for plain position + i += put_float_by_index(x, i, msg->payload); // x position + i += put_float_by_index(y, i, msg->payload); // y position + i += put_float_by_index(z, i, msg->payload); // z position + i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a position_control_setpoint 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 id ID of waypoint, 0 for plain position + * @param x x position + * @param y y position + * @param z z position + * @param yaw yaw orientation in radians, 0 = NORTH + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_position_control_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float yaw) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT; + + i += put_uint16_t_by_index(id, i, msg->payload); // ID of waypoint, 0 for plain position + i += put_float_by_index(x, i, msg->payload); // x position + i += put_float_by_index(y, i, msg->payload); // y position + i += put_float_by_index(z, i, msg->payload); // z position + i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a position_control_setpoint 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 position_control_setpoint C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_position_control_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_control_setpoint_t* position_control_setpoint) +{ + return mavlink_msg_position_control_setpoint_pack(system_id, component_id, msg, position_control_setpoint->id, position_control_setpoint->x, position_control_setpoint->y, position_control_setpoint->z, position_control_setpoint->yaw); +} + +/** + * @brief Send a position_control_setpoint message + * @param chan MAVLink channel to send the message + * + * @param id ID of waypoint, 0 for plain position + * @param x x position + * @param y y position + * @param z z position + * @param yaw yaw orientation in radians, 0 = NORTH + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_position_control_setpoint_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float yaw) +{ + mavlink_message_t msg; + mavlink_msg_position_control_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, id, x, y, z, yaw); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE POSITION_CONTROL_SETPOINT UNPACKING + +/** + * @brief Get field id from position_control_setpoint message + * + * @return ID of waypoint, 0 for plain position + */ +static inline uint16_t mavlink_msg_position_control_setpoint_get_id(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload)[0]; + r.b[0] = (msg->payload)[1]; + return (uint16_t)r.s; +} + +/** + * @brief Get field x from position_control_setpoint message + * + * @return x position + */ +static inline float mavlink_msg_position_control_setpoint_get_x(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint16_t))[0]; + r.b[2] = (msg->payload+sizeof(uint16_t))[1]; + r.b[1] = (msg->payload+sizeof(uint16_t))[2]; + r.b[0] = (msg->payload+sizeof(uint16_t))[3]; + return (float)r.f; +} + +/** + * @brief Get field y from position_control_setpoint message + * + * @return y position + */ +static inline float mavlink_msg_position_control_setpoint_get_y(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field z from position_control_setpoint message + * + * @return z position + */ +static inline float mavlink_msg_position_control_setpoint_get_z(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field yaw from position_control_setpoint message + * + * @return yaw orientation in radians, 0 = NORTH + */ +static inline float mavlink_msg_position_control_setpoint_get_yaw(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Decode a position_control_setpoint message into a struct + * + * @param msg The message to decode + * @param position_control_setpoint C-struct to decode the message contents into + */ +static inline void mavlink_msg_position_control_setpoint_decode(const mavlink_message_t* msg, mavlink_position_control_setpoint_t* position_control_setpoint) +{ + position_control_setpoint->id = mavlink_msg_position_control_setpoint_get_id(msg); + position_control_setpoint->x = mavlink_msg_position_control_setpoint_get_x(msg); + position_control_setpoint->y = mavlink_msg_position_control_setpoint_get_y(msg); + position_control_setpoint->z = mavlink_msg_position_control_setpoint_get_z(msg); + position_control_setpoint->yaw = mavlink_msg_position_control_setpoint_get_yaw(msg); +}