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/slugs/mavlink_msg_slugs_navigation.h
- Revision:
- 0:826c6171fc1b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/slugs/mavlink_msg_slugs_navigation.h Wed Jun 20 14:57:48 2012 +0000 @@ -0,0 +1,272 @@ +// MESSAGE SLUGS_NAVIGATION PACKING + +#define MAVLINK_MSG_ID_SLUGS_NAVIGATION 176 + +typedef struct __mavlink_slugs_navigation_t +{ + float u_m; ///< Measured Airspeed prior to the Nav Filter + float phi_c; ///< Commanded Roll + float theta_c; ///< Commanded Pitch + float psiDot_c; ///< Commanded Turn rate + float ay_body; ///< Y component of the body acceleration + float totalDist; ///< Total Distance to Run on this leg of Navigation + float dist2Go; ///< Remaining distance to Run on this leg of Navigation + uint8_t fromWP; ///< Origin WP + uint8_t toWP; ///< Destination WP + +} mavlink_slugs_navigation_t; + + + +/** + * @brief Pack a slugs_navigation 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 u_m Measured Airspeed prior to the Nav Filter + * @param phi_c Commanded Roll + * @param theta_c Commanded Pitch + * @param psiDot_c Commanded Turn rate + * @param ay_body Y component of the body acceleration + * @param totalDist Total Distance to Run on this leg of Navigation + * @param dist2Go Remaining distance to Run on this leg of Navigation + * @param fromWP Origin WP + * @param toWP Destination WP + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_slugs_navigation_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION; + + i += put_float_by_index(u_m, i, msg->payload); // Measured Airspeed prior to the Nav Filter + i += put_float_by_index(phi_c, i, msg->payload); // Commanded Roll + i += put_float_by_index(theta_c, i, msg->payload); // Commanded Pitch + i += put_float_by_index(psiDot_c, i, msg->payload); // Commanded Turn rate + i += put_float_by_index(ay_body, i, msg->payload); // Y component of the body acceleration + i += put_float_by_index(totalDist, i, msg->payload); // Total Distance to Run on this leg of Navigation + i += put_float_by_index(dist2Go, i, msg->payload); // Remaining distance to Run on this leg of Navigation + i += put_uint8_t_by_index(fromWP, i, msg->payload); // Origin WP + i += put_uint8_t_by_index(toWP, i, msg->payload); // Destination WP + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a slugs_navigation 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 u_m Measured Airspeed prior to the Nav Filter + * @param phi_c Commanded Roll + * @param theta_c Commanded Pitch + * @param psiDot_c Commanded Turn rate + * @param ay_body Y component of the body acceleration + * @param totalDist Total Distance to Run on this leg of Navigation + * @param dist2Go Remaining distance to Run on this leg of Navigation + * @param fromWP Origin WP + * @param toWP Destination WP + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_slugs_navigation_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION; + + i += put_float_by_index(u_m, i, msg->payload); // Measured Airspeed prior to the Nav Filter + i += put_float_by_index(phi_c, i, msg->payload); // Commanded Roll + i += put_float_by_index(theta_c, i, msg->payload); // Commanded Pitch + i += put_float_by_index(psiDot_c, i, msg->payload); // Commanded Turn rate + i += put_float_by_index(ay_body, i, msg->payload); // Y component of the body acceleration + i += put_float_by_index(totalDist, i, msg->payload); // Total Distance to Run on this leg of Navigation + i += put_float_by_index(dist2Go, i, msg->payload); // Remaining distance to Run on this leg of Navigation + i += put_uint8_t_by_index(fromWP, i, msg->payload); // Origin WP + i += put_uint8_t_by_index(toWP, i, msg->payload); // Destination WP + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a slugs_navigation 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 slugs_navigation C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_slugs_navigation_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_slugs_navigation_t* slugs_navigation) +{ + return mavlink_msg_slugs_navigation_pack(system_id, component_id, msg, slugs_navigation->u_m, slugs_navigation->phi_c, slugs_navigation->theta_c, slugs_navigation->psiDot_c, slugs_navigation->ay_body, slugs_navigation->totalDist, slugs_navigation->dist2Go, slugs_navigation->fromWP, slugs_navigation->toWP); +} + +/** + * @brief Send a slugs_navigation message + * @param chan MAVLink channel to send the message + * + * @param u_m Measured Airspeed prior to the Nav Filter + * @param phi_c Commanded Roll + * @param theta_c Commanded Pitch + * @param psiDot_c Commanded Turn rate + * @param ay_body Y component of the body acceleration + * @param totalDist Total Distance to Run on this leg of Navigation + * @param dist2Go Remaining distance to Run on this leg of Navigation + * @param fromWP Origin WP + * @param toWP Destination WP + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_slugs_navigation_send(mavlink_channel_t chan, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP) +{ + mavlink_message_t msg; + mavlink_msg_slugs_navigation_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, u_m, phi_c, theta_c, psiDot_c, ay_body, totalDist, dist2Go, fromWP, toWP); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE SLUGS_NAVIGATION UNPACKING + +/** + * @brief Get field u_m from slugs_navigation message + * + * @return Measured Airspeed prior to the Nav Filter + */ +static inline float mavlink_msg_slugs_navigation_get_u_m(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload)[0]; + r.b[2] = (msg->payload)[1]; + r.b[1] = (msg->payload)[2]; + r.b[0] = (msg->payload)[3]; + return (float)r.f; +} + +/** + * @brief Get field phi_c from slugs_navigation message + * + * @return Commanded Roll + */ +static inline float mavlink_msg_slugs_navigation_get_phi_c(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field theta_c from slugs_navigation message + * + * @return Commanded Pitch + */ +static inline float mavlink_msg_slugs_navigation_get_theta_c(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field psiDot_c from slugs_navigation message + * + * @return Commanded Turn rate + */ +static inline float mavlink_msg_slugs_navigation_get_psiDot_c(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field ay_body from slugs_navigation message + * + * @return Y component of the body acceleration + */ +static inline float mavlink_msg_slugs_navigation_get_ay_body(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field totalDist from slugs_navigation message + * + * @return Total Distance to Run on this leg of Navigation + */ +static inline float mavlink_msg_slugs_navigation_get_totalDist(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field dist2Go from slugs_navigation message + * + * @return Remaining distance to Run on this leg of Navigation + */ +static inline float mavlink_msg_slugs_navigation_get_dist2Go(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field fromWP from slugs_navigation message + * + * @return Origin WP + */ +static inline uint8_t mavlink_msg_slugs_navigation_get_fromWP(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; +} + +/** + * @brief Get field toWP from slugs_navigation message + * + * @return Destination WP + */ +static inline uint8_t mavlink_msg_slugs_navigation_get_toWP(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0]; +} + +/** + * @brief Decode a slugs_navigation message into a struct + * + * @param msg The message to decode + * @param slugs_navigation C-struct to decode the message contents into + */ +static inline void mavlink_msg_slugs_navigation_decode(const mavlink_message_t* msg, mavlink_slugs_navigation_t* slugs_navigation) +{ + slugs_navigation->u_m = mavlink_msg_slugs_navigation_get_u_m(msg); + slugs_navigation->phi_c = mavlink_msg_slugs_navigation_get_phi_c(msg); + slugs_navigation->theta_c = mavlink_msg_slugs_navigation_get_theta_c(msg); + slugs_navigation->psiDot_c = mavlink_msg_slugs_navigation_get_psiDot_c(msg); + slugs_navigation->ay_body = mavlink_msg_slugs_navigation_get_ay_body(msg); + slugs_navigation->totalDist = mavlink_msg_slugs_navigation_get_totalDist(msg); + slugs_navigation->dist2Go = mavlink_msg_slugs_navigation_get_dist2Go(msg); + slugs_navigation->fromWP = mavlink_msg_slugs_navigation_get_fromWP(msg); + slugs_navigation->toWP = mavlink_msg_slugs_navigation_get_toWP(msg); +}