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_param_set.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:826c6171fc1b | 1 | // MESSAGE PARAM_SET PACKING |
shimniok | 0:826c6171fc1b | 2 | |
shimniok | 0:826c6171fc1b | 3 | #define MAVLINK_MSG_ID_PARAM_SET 23 |
shimniok | 0:826c6171fc1b | 4 | |
shimniok | 0:826c6171fc1b | 5 | typedef struct __mavlink_param_set_t |
shimniok | 0:826c6171fc1b | 6 | { |
shimniok | 0:826c6171fc1b | 7 | uint8_t target_system; ///< System ID |
shimniok | 0:826c6171fc1b | 8 | uint8_t target_component; ///< Component ID |
shimniok | 0:826c6171fc1b | 9 | int8_t param_id[15]; ///< Onboard parameter id |
shimniok | 0:826c6171fc1b | 10 | float param_value; ///< Onboard parameter value |
shimniok | 0:826c6171fc1b | 11 | |
shimniok | 0:826c6171fc1b | 12 | } mavlink_param_set_t; |
shimniok | 0:826c6171fc1b | 13 | |
shimniok | 0:826c6171fc1b | 14 | #define MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN 15 |
shimniok | 0:826c6171fc1b | 15 | |
shimniok | 0:826c6171fc1b | 16 | |
shimniok | 0:826c6171fc1b | 17 | /** |
shimniok | 0:826c6171fc1b | 18 | * @brief Pack a param_set 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 target_system System ID |
shimniok | 0:826c6171fc1b | 24 | * @param target_component Component ID |
shimniok | 0:826c6171fc1b | 25 | * @param param_id Onboard parameter id |
shimniok | 0:826c6171fc1b | 26 | * @param param_value Onboard parameter value |
shimniok | 0:826c6171fc1b | 27 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:826c6171fc1b | 28 | */ |
shimniok | 0:826c6171fc1b | 29 | static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value) |
shimniok | 0:826c6171fc1b | 30 | { |
shimniok | 0:826c6171fc1b | 31 | uint16_t i = 0; |
shimniok | 0:826c6171fc1b | 32 | msg->msgid = MAVLINK_MSG_ID_PARAM_SET; |
shimniok | 0:826c6171fc1b | 33 | |
shimniok | 0:826c6171fc1b | 34 | i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID |
shimniok | 0:826c6171fc1b | 35 | i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID |
shimniok | 0:826c6171fc1b | 36 | i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id |
shimniok | 0:826c6171fc1b | 37 | i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value |
shimniok | 0:826c6171fc1b | 38 | |
shimniok | 0:826c6171fc1b | 39 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:826c6171fc1b | 40 | } |
shimniok | 0:826c6171fc1b | 41 | |
shimniok | 0:826c6171fc1b | 42 | /** |
shimniok | 0:826c6171fc1b | 43 | * @brief Pack a param_set message |
shimniok | 0:826c6171fc1b | 44 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 45 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 46 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:826c6171fc1b | 47 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 48 | * @param target_system System ID |
shimniok | 0:826c6171fc1b | 49 | * @param target_component Component ID |
shimniok | 0:826c6171fc1b | 50 | * @param param_id Onboard parameter id |
shimniok | 0:826c6171fc1b | 51 | * @param param_value Onboard parameter value |
shimniok | 0:826c6171fc1b | 52 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:826c6171fc1b | 53 | */ |
shimniok | 0:826c6171fc1b | 54 | static inline uint16_t mavlink_msg_param_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value) |
shimniok | 0:826c6171fc1b | 55 | { |
shimniok | 0:826c6171fc1b | 56 | uint16_t i = 0; |
shimniok | 0:826c6171fc1b | 57 | msg->msgid = MAVLINK_MSG_ID_PARAM_SET; |
shimniok | 0:826c6171fc1b | 58 | |
shimniok | 0:826c6171fc1b | 59 | i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID |
shimniok | 0:826c6171fc1b | 60 | i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID |
shimniok | 0:826c6171fc1b | 61 | i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id |
shimniok | 0:826c6171fc1b | 62 | i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value |
shimniok | 0:826c6171fc1b | 63 | |
shimniok | 0:826c6171fc1b | 64 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:826c6171fc1b | 65 | } |
shimniok | 0:826c6171fc1b | 66 | |
shimniok | 0:826c6171fc1b | 67 | /** |
shimniok | 0:826c6171fc1b | 68 | * @brief Encode a param_set struct into a message |
shimniok | 0:826c6171fc1b | 69 | * |
shimniok | 0:826c6171fc1b | 70 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 71 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 72 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 73 | * @param param_set C-struct to read the message contents from |
shimniok | 0:826c6171fc1b | 74 | */ |
shimniok | 0:826c6171fc1b | 75 | static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_set_t* param_set) |
shimniok | 0:826c6171fc1b | 76 | { |
shimniok | 0:826c6171fc1b | 77 | return mavlink_msg_param_set_pack(system_id, component_id, msg, param_set->target_system, param_set->target_component, param_set->param_id, param_set->param_value); |
shimniok | 0:826c6171fc1b | 78 | } |
shimniok | 0:826c6171fc1b | 79 | |
shimniok | 0:826c6171fc1b | 80 | /** |
shimniok | 0:826c6171fc1b | 81 | * @brief Send a param_set message |
shimniok | 0:826c6171fc1b | 82 | * @param chan MAVLink channel to send the message |
shimniok | 0:826c6171fc1b | 83 | * |
shimniok | 0:826c6171fc1b | 84 | * @param target_system System ID |
shimniok | 0:826c6171fc1b | 85 | * @param target_component Component ID |
shimniok | 0:826c6171fc1b | 86 | * @param param_id Onboard parameter id |
shimniok | 0:826c6171fc1b | 87 | * @param param_value Onboard parameter value |
shimniok | 0:826c6171fc1b | 88 | */ |
shimniok | 0:826c6171fc1b | 89 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:826c6171fc1b | 90 | |
shimniok | 0:826c6171fc1b | 91 | static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value) |
shimniok | 0:826c6171fc1b | 92 | { |
shimniok | 0:826c6171fc1b | 93 | mavlink_message_t msg; |
shimniok | 0:826c6171fc1b | 94 | mavlink_msg_param_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, param_id, param_value); |
shimniok | 0:826c6171fc1b | 95 | mavlink_send_uart(chan, &msg); |
shimniok | 0:826c6171fc1b | 96 | } |
shimniok | 0:826c6171fc1b | 97 | |
shimniok | 0:826c6171fc1b | 98 | #endif |
shimniok | 0:826c6171fc1b | 99 | // MESSAGE PARAM_SET UNPACKING |
shimniok | 0:826c6171fc1b | 100 | |
shimniok | 0:826c6171fc1b | 101 | /** |
shimniok | 0:826c6171fc1b | 102 | * @brief Get field target_system from param_set message |
shimniok | 0:826c6171fc1b | 103 | * |
shimniok | 0:826c6171fc1b | 104 | * @return System ID |
shimniok | 0:826c6171fc1b | 105 | */ |
shimniok | 0:826c6171fc1b | 106 | static inline uint8_t mavlink_msg_param_set_get_target_system(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 107 | { |
shimniok | 0:826c6171fc1b | 108 | return (uint8_t)(msg->payload)[0]; |
shimniok | 0:826c6171fc1b | 109 | } |
shimniok | 0:826c6171fc1b | 110 | |
shimniok | 0:826c6171fc1b | 111 | /** |
shimniok | 0:826c6171fc1b | 112 | * @brief Get field target_component from param_set message |
shimniok | 0:826c6171fc1b | 113 | * |
shimniok | 0:826c6171fc1b | 114 | * @return Component ID |
shimniok | 0:826c6171fc1b | 115 | */ |
shimniok | 0:826c6171fc1b | 116 | static inline uint8_t mavlink_msg_param_set_get_target_component(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 117 | { |
shimniok | 0:826c6171fc1b | 118 | return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; |
shimniok | 0:826c6171fc1b | 119 | } |
shimniok | 0:826c6171fc1b | 120 | |
shimniok | 0:826c6171fc1b | 121 | /** |
shimniok | 0:826c6171fc1b | 122 | * @brief Get field param_id from param_set message |
shimniok | 0:826c6171fc1b | 123 | * |
shimniok | 0:826c6171fc1b | 124 | * @return Onboard parameter id |
shimniok | 0:826c6171fc1b | 125 | */ |
shimniok | 0:826c6171fc1b | 126 | static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_t* msg, int8_t* r_data) |
shimniok | 0:826c6171fc1b | 127 | { |
shimniok | 0:826c6171fc1b | 128 | |
shimniok | 0:826c6171fc1b | 129 | memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t), 15); |
shimniok | 0:826c6171fc1b | 130 | return 15; |
shimniok | 0:826c6171fc1b | 131 | } |
shimniok | 0:826c6171fc1b | 132 | |
shimniok | 0:826c6171fc1b | 133 | /** |
shimniok | 0:826c6171fc1b | 134 | * @brief Get field param_value from param_set message |
shimniok | 0:826c6171fc1b | 135 | * |
shimniok | 0:826c6171fc1b | 136 | * @return Onboard parameter value |
shimniok | 0:826c6171fc1b | 137 | */ |
shimniok | 0:826c6171fc1b | 138 | static inline float mavlink_msg_param_set_get_param_value(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 139 | { |
shimniok | 0:826c6171fc1b | 140 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 141 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[0]; |
shimniok | 0:826c6171fc1b | 142 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[1]; |
shimniok | 0:826c6171fc1b | 143 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[2]; |
shimniok | 0:826c6171fc1b | 144 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[3]; |
shimniok | 0:826c6171fc1b | 145 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 146 | } |
shimniok | 0:826c6171fc1b | 147 | |
shimniok | 0:826c6171fc1b | 148 | /** |
shimniok | 0:826c6171fc1b | 149 | * @brief Decode a param_set message into a struct |
shimniok | 0:826c6171fc1b | 150 | * |
shimniok | 0:826c6171fc1b | 151 | * @param msg The message to decode |
shimniok | 0:826c6171fc1b | 152 | * @param param_set C-struct to decode the message contents into |
shimniok | 0:826c6171fc1b | 153 | */ |
shimniok | 0:826c6171fc1b | 154 | static inline void mavlink_msg_param_set_decode(const mavlink_message_t* msg, mavlink_param_set_t* param_set) |
shimniok | 0:826c6171fc1b | 155 | { |
shimniok | 0:826c6171fc1b | 156 | param_set->target_system = mavlink_msg_param_set_get_target_system(msg); |
shimniok | 0:826c6171fc1b | 157 | param_set->target_component = mavlink_msg_param_set_get_target_component(msg); |
shimniok | 0:826c6171fc1b | 158 | mavlink_msg_param_set_get_param_id(msg, param_set->param_id); |
shimniok | 0:826c6171fc1b | 159 | param_set->param_value = mavlink_msg_param_set_get_param_value(msg); |
shimniok | 0:826c6171fc1b | 160 | } |