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/ualberta/ualberta.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 | /** @file |
shimniok | 0:826c6171fc1b | 2 | * @brief MAVLink comm protocol. |
shimniok | 0:826c6171fc1b | 3 | * @see http://qgroundcontrol.org/mavlink/ |
shimniok | 0:826c6171fc1b | 4 | * Generated on Friday, August 5 2011, 07:37 UTC |
shimniok | 0:826c6171fc1b | 5 | */ |
shimniok | 0:826c6171fc1b | 6 | #ifndef UALBERTA_H |
shimniok | 0:826c6171fc1b | 7 | #define UALBERTA_H |
shimniok | 0:826c6171fc1b | 8 | |
shimniok | 0:826c6171fc1b | 9 | #ifdef __cplusplus |
shimniok | 0:826c6171fc1b | 10 | extern "C" { |
shimniok | 0:826c6171fc1b | 11 | #endif |
shimniok | 0:826c6171fc1b | 12 | |
shimniok | 0:826c6171fc1b | 13 | |
shimniok | 0:826c6171fc1b | 14 | #include "../protocol.h" |
shimniok | 0:826c6171fc1b | 15 | |
shimniok | 0:826c6171fc1b | 16 | #define MAVLINK_ENABLED_UALBERTA |
shimniok | 0:826c6171fc1b | 17 | |
shimniok | 0:826c6171fc1b | 18 | |
shimniok | 0:826c6171fc1b | 19 | #include "../common/common.h" |
shimniok | 0:826c6171fc1b | 20 | // MAVLINK VERSION |
shimniok | 0:826c6171fc1b | 21 | |
shimniok | 0:826c6171fc1b | 22 | #ifndef MAVLINK_VERSION |
shimniok | 0:826c6171fc1b | 23 | #define MAVLINK_VERSION 0 |
shimniok | 0:826c6171fc1b | 24 | #endif |
shimniok | 0:826c6171fc1b | 25 | |
shimniok | 0:826c6171fc1b | 26 | #if (MAVLINK_VERSION == 0) |
shimniok | 0:826c6171fc1b | 27 | #undef MAVLINK_VERSION |
shimniok | 0:826c6171fc1b | 28 | #define MAVLINK_VERSION 0 |
shimniok | 0:826c6171fc1b | 29 | #endif |
shimniok | 0:826c6171fc1b | 30 | |
shimniok | 0:826c6171fc1b | 31 | // ENUM DEFINITIONS |
shimniok | 0:826c6171fc1b | 32 | |
shimniok | 0:826c6171fc1b | 33 | /** @brief Available autopilot modes for ualberta uav */ |
shimniok | 0:826c6171fc1b | 34 | enum UALBERTA_AUTOPILOT_MODE |
shimniok | 0:826c6171fc1b | 35 | { |
shimniok | 0:826c6171fc1b | 36 | MODE_MANUAL_DIRECT=0, /* */ |
shimniok | 0:826c6171fc1b | 37 | MODE_MANUAL_SCALED=1, /* */ |
shimniok | 0:826c6171fc1b | 38 | MODE_AUTO_PID_ATT=2, /* */ |
shimniok | 0:826c6171fc1b | 39 | MODE_AUTO_PID_VEL=3, /* */ |
shimniok | 0:826c6171fc1b | 40 | MODE_AUTO_PID_POS=4, /* */ |
shimniok | 0:826c6171fc1b | 41 | UALBERTA_AUTOPILOT_MODE_ENUM_END |
shimniok | 0:826c6171fc1b | 42 | }; |
shimniok | 0:826c6171fc1b | 43 | |
shimniok | 0:826c6171fc1b | 44 | /** @brief Navigation filter mode */ |
shimniok | 0:826c6171fc1b | 45 | enum UALBERTA_NAV_MODE |
shimniok | 0:826c6171fc1b | 46 | { |
shimniok | 0:826c6171fc1b | 47 | NAV_AHRS_INIT=0, |
shimniok | 0:826c6171fc1b | 48 | NAV_AHRS=1, /* */ |
shimniok | 0:826c6171fc1b | 49 | NAV_INS_GPS_INIT=2, /* */ |
shimniok | 0:826c6171fc1b | 50 | NAV_INS_GPS=3, /* */ |
shimniok | 0:826c6171fc1b | 51 | UALBERTA_NAV_MODE_ENUM_END |
shimniok | 0:826c6171fc1b | 52 | }; |
shimniok | 0:826c6171fc1b | 53 | |
shimniok | 0:826c6171fc1b | 54 | /** @brief Mode currently commanded by pilot */ |
shimniok | 0:826c6171fc1b | 55 | enum UALBERTA_PILOT_MODE |
shimniok | 0:826c6171fc1b | 56 | { |
shimniok | 0:826c6171fc1b | 57 | PILOT_MANUAL=0, /* */ |
shimniok | 0:826c6171fc1b | 58 | PILOT_AUTO=1, /* */ |
shimniok | 0:826c6171fc1b | 59 | PILOT_ROTO=2, /* */ |
shimniok | 0:826c6171fc1b | 60 | UALBERTA_PILOT_MODE_ENUM_END |
shimniok | 0:826c6171fc1b | 61 | }; |
shimniok | 0:826c6171fc1b | 62 | |
shimniok | 0:826c6171fc1b | 63 | |
shimniok | 0:826c6171fc1b | 64 | // MESSAGE DEFINITIONS |
shimniok | 0:826c6171fc1b | 65 | |
shimniok | 0:826c6171fc1b | 66 | #include "./mavlink_msg_nav_filter_bias.h" |
shimniok | 0:826c6171fc1b | 67 | #include "./mavlink_msg_radio_calibration.h" |
shimniok | 0:826c6171fc1b | 68 | #include "./mavlink_msg_ualberta_sys_status.h" |
shimniok | 0:826c6171fc1b | 69 | |
shimniok | 0:826c6171fc1b | 70 | |
shimniok | 0:826c6171fc1b | 71 | // MESSAGE LENGTHS |
shimniok | 0:826c6171fc1b | 72 | |
shimniok | 0:826c6171fc1b | 73 | #undef MAVLINK_MESSAGE_LENGTHS |
shimniok | 0:826c6171fc1b | 74 | #define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 14, 14, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 56, 0, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 32, 42, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 } |
shimniok | 0:826c6171fc1b | 75 | |
shimniok | 0:826c6171fc1b | 76 | #ifdef __cplusplus |
shimniok | 0:826c6171fc1b | 77 | } |
shimniok | 0:826c6171fc1b | 78 | #endif |
shimniok | 0:826c6171fc1b | 79 | #endif |