![](/media/cache/profiles/2012_sf_avc_095.jpg.50x50_q85.jpg)
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/ardupilotmega/mavlink_msg_sensor_offsets.h
- Revision:
- 0:826c6171fc1b
diff -r 000000000000 -r 826c6171fc1b MAVlink/include/ardupilotmega/mavlink_msg_sensor_offsets.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/ardupilotmega/mavlink_msg_sensor_offsets.h Wed Jun 20 14:57:48 2012 +0000 @@ -0,0 +1,342 @@ +// MESSAGE SENSOR_OFFSETS PACKING + +#define MAVLINK_MSG_ID_SENSOR_OFFSETS 150 + +typedef struct __mavlink_sensor_offsets_t +{ + int16_t mag_ofs_x; ///< magnetometer X offset + int16_t mag_ofs_y; ///< magnetometer Y offset + int16_t mag_ofs_z; ///< magnetometer Z offset + float mag_declination; ///< magnetic declination (radians) + int32_t raw_press; ///< raw pressure from barometer + int32_t raw_temp; ///< raw temperature from barometer + float gyro_cal_x; ///< gyro X calibration + float gyro_cal_y; ///< gyro Y calibration + float gyro_cal_z; ///< gyro Z calibration + float accel_cal_x; ///< accel X calibration + float accel_cal_y; ///< accel Y calibration + float accel_cal_z; ///< accel Z calibration + +} mavlink_sensor_offsets_t; + + + +/** + * @brief Pack a sensor_offsets 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 mag_ofs_x magnetometer X offset + * @param mag_ofs_y magnetometer Y offset + * @param mag_ofs_z magnetometer Z offset + * @param mag_declination magnetic declination (radians) + * @param raw_press raw pressure from barometer + * @param raw_temp raw temperature from barometer + * @param gyro_cal_x gyro X calibration + * @param gyro_cal_y gyro Y calibration + * @param gyro_cal_z gyro Z calibration + * @param accel_cal_x accel X calibration + * @param accel_cal_y accel Y calibration + * @param accel_cal_z accel Z calibration + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS; + + i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset + i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset + i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset + i += put_float_by_index(mag_declination, i, msg->payload); // magnetic declination (radians) + i += put_int32_t_by_index(raw_press, i, msg->payload); // raw pressure from barometer + i += put_int32_t_by_index(raw_temp, i, msg->payload); // raw temperature from barometer + i += put_float_by_index(gyro_cal_x, i, msg->payload); // gyro X calibration + i += put_float_by_index(gyro_cal_y, i, msg->payload); // gyro Y calibration + i += put_float_by_index(gyro_cal_z, i, msg->payload); // gyro Z calibration + i += put_float_by_index(accel_cal_x, i, msg->payload); // accel X calibration + i += put_float_by_index(accel_cal_y, i, msg->payload); // accel Y calibration + i += put_float_by_index(accel_cal_z, i, msg->payload); // accel Z calibration + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a sensor_offsets 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 mag_ofs_x magnetometer X offset + * @param mag_ofs_y magnetometer Y offset + * @param mag_ofs_z magnetometer Z offset + * @param mag_declination magnetic declination (radians) + * @param raw_press raw pressure from barometer + * @param raw_temp raw temperature from barometer + * @param gyro_cal_x gyro X calibration + * @param gyro_cal_y gyro Y calibration + * @param gyro_cal_z gyro Z calibration + * @param accel_cal_x accel X calibration + * @param accel_cal_y accel Y calibration + * @param accel_cal_z accel Z calibration + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS; + + i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset + i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset + i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset + i += put_float_by_index(mag_declination, i, msg->payload); // magnetic declination (radians) + i += put_int32_t_by_index(raw_press, i, msg->payload); // raw pressure from barometer + i += put_int32_t_by_index(raw_temp, i, msg->payload); // raw temperature from barometer + i += put_float_by_index(gyro_cal_x, i, msg->payload); // gyro X calibration + i += put_float_by_index(gyro_cal_y, i, msg->payload); // gyro Y calibration + i += put_float_by_index(gyro_cal_z, i, msg->payload); // gyro Z calibration + i += put_float_by_index(accel_cal_x, i, msg->payload); // accel X calibration + i += put_float_by_index(accel_cal_y, i, msg->payload); // accel Y calibration + i += put_float_by_index(accel_cal_z, i, msg->payload); // accel Z calibration + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a sensor_offsets 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 sensor_offsets C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_sensor_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_offsets_t* sensor_offsets) +{ + return mavlink_msg_sensor_offsets_pack(system_id, component_id, msg, sensor_offsets->mag_ofs_x, sensor_offsets->mag_ofs_y, sensor_offsets->mag_ofs_z, sensor_offsets->mag_declination, sensor_offsets->raw_press, sensor_offsets->raw_temp, sensor_offsets->gyro_cal_x, sensor_offsets->gyro_cal_y, sensor_offsets->gyro_cal_z, sensor_offsets->accel_cal_x, sensor_offsets->accel_cal_y, sensor_offsets->accel_cal_z); +} + +/** + * @brief Send a sensor_offsets message + * @param chan MAVLink channel to send the message + * + * @param mag_ofs_x magnetometer X offset + * @param mag_ofs_y magnetometer Y offset + * @param mag_ofs_z magnetometer Z offset + * @param mag_declination magnetic declination (radians) + * @param raw_press raw pressure from barometer + * @param raw_temp raw temperature from barometer + * @param gyro_cal_x gyro X calibration + * @param gyro_cal_y gyro Y calibration + * @param gyro_cal_z gyro Z calibration + * @param accel_cal_x accel X calibration + * @param accel_cal_y accel Y calibration + * @param accel_cal_z accel Z calibration + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_sensor_offsets_send(mavlink_channel_t chan, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z) +{ + mavlink_message_t msg; + mavlink_msg_sensor_offsets_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE SENSOR_OFFSETS UNPACKING + +/** + * @brief Get field mag_ofs_x from sensor_offsets message + * + * @return magnetometer X offset + */ +static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_x(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload)[0]; + r.b[0] = (msg->payload)[1]; + return (int16_t)r.s; +} + +/** + * @brief Get field mag_ofs_y from sensor_offsets message + * + * @return magnetometer Y offset + */ +static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_y(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(int16_t))[0]; + r.b[0] = (msg->payload+sizeof(int16_t))[1]; + return (int16_t)r.s; +} + +/** + * @brief Get field mag_ofs_z from sensor_offsets message + * + * @return magnetometer Z offset + */ +static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_z(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t))[0]; + r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t))[1]; + return (int16_t)r.s; +} + +/** + * @brief Get field mag_declination from sensor_offsets message + * + * @return magnetic declination (radians) + */ +static inline float mavlink_msg_sensor_offsets_get_mag_declination(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; + r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; + r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[2]; + r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[3]; + return (float)r.f; +} + +/** + * @brief Get field raw_press from sensor_offsets message + * + * @return raw pressure from barometer + */ +static inline int32_t mavlink_msg_sensor_offsets_get_raw_press(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[3]; + return (int32_t)r.i; +} + +/** + * @brief Get field raw_temp from sensor_offsets message + * + * @return raw temperature from barometer + */ +static inline int32_t mavlink_msg_sensor_offsets_get_raw_temp(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[0]; + r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[1]; + r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[2]; + r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[3]; + return (int32_t)r.i; +} + +/** + * @brief Get field gyro_cal_x from sensor_offsets message + * + * @return gyro X calibration + */ +static inline float mavlink_msg_sensor_offsets_get_gyro_cal_x(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[0]; + r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[1]; + r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[2]; + r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[3]; + return (float)r.f; +} + +/** + * @brief Get field gyro_cal_y from sensor_offsets message + * + * @return gyro Y calibration + */ +static inline float mavlink_msg_sensor_offsets_get_gyro_cal_y(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field gyro_cal_z from sensor_offsets message + * + * @return gyro Z calibration + */ +static inline float mavlink_msg_sensor_offsets_get_gyro_cal_z(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field accel_cal_x from sensor_offsets message + * + * @return accel X calibration + */ +static inline float mavlink_msg_sensor_offsets_get_accel_cal_x(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field accel_cal_y from sensor_offsets message + * + * @return accel Y calibration + */ +static inline float mavlink_msg_sensor_offsets_get_accel_cal_y(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field accel_cal_z from sensor_offsets message + * + * @return accel Z calibration + */ +static inline float mavlink_msg_sensor_offsets_get_accel_cal_z(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Decode a sensor_offsets message into a struct + * + * @param msg The message to decode + * @param sensor_offsets C-struct to decode the message contents into + */ +static inline void mavlink_msg_sensor_offsets_decode(const mavlink_message_t* msg, mavlink_sensor_offsets_t* sensor_offsets) +{ + sensor_offsets->mag_ofs_x = mavlink_msg_sensor_offsets_get_mag_ofs_x(msg); + sensor_offsets->mag_ofs_y = mavlink_msg_sensor_offsets_get_mag_ofs_y(msg); + sensor_offsets->mag_ofs_z = mavlink_msg_sensor_offsets_get_mag_ofs_z(msg); + sensor_offsets->mag_declination = mavlink_msg_sensor_offsets_get_mag_declination(msg); + sensor_offsets->raw_press = mavlink_msg_sensor_offsets_get_raw_press(msg); + sensor_offsets->raw_temp = mavlink_msg_sensor_offsets_get_raw_temp(msg); + sensor_offsets->gyro_cal_x = mavlink_msg_sensor_offsets_get_gyro_cal_x(msg); + sensor_offsets->gyro_cal_y = mavlink_msg_sensor_offsets_get_gyro_cal_y(msg); + sensor_offsets->gyro_cal_z = mavlink_msg_sensor_offsets_get_gyro_cal_z(msg); + sensor_offsets->accel_cal_x = mavlink_msg_sensor_offsets_get_accel_cal_x(msg); + sensor_offsets->accel_cal_y = mavlink_msg_sensor_offsets_get_accel_cal_y(msg); + sensor_offsets->accel_cal_z = mavlink_msg_sensor_offsets_get_accel_cal_z(msg); +}