Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.

Dependencies:   Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo

Embed: (wiki syntax)

« Back to documentation index

Show/hide line numbers mavlink_msg_marker.h Source File

mavlink_msg_marker.h

00001 // MESSAGE MARKER PACKING
00002 
00003 #define MAVLINK_MSG_ID_MARKER 130
00004 
00005 typedef struct __mavlink_marker_t 
00006 {
00007     uint16_t id; ///< ID
00008     float x; ///< x position
00009     float y; ///< y position
00010     float z; ///< z position
00011     float roll; ///< roll orientation
00012     float pitch; ///< pitch orientation
00013     float yaw; ///< yaw orientation
00014 
00015 } mavlink_marker_t;
00016 
00017 
00018 
00019 /**
00020  * @brief Pack a marker message
00021  * @param system_id ID of this system
00022  * @param component_id ID of this component (e.g. 200 for IMU)
00023  * @param msg The MAVLink message to compress the data into
00024  *
00025  * @param id ID
00026  * @param x x position
00027  * @param y y position
00028  * @param z z position
00029  * @param roll roll orientation
00030  * @param pitch pitch orientation
00031  * @param yaw yaw orientation
00032  * @return length of the message in bytes (excluding serial stream start sign)
00033  */
00034 static inline uint16_t mavlink_msg_marker_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw)
00035 {
00036     uint16_t i = 0;
00037     msg->msgid = MAVLINK_MSG_ID_MARKER;
00038 
00039     i += put_uint16_t_by_index(id, i, msg->payload); // ID
00040     i += put_float_by_index(x, i, msg->payload); // x position
00041     i += put_float_by_index(y, i, msg->payload); // y position
00042     i += put_float_by_index(z, i, msg->payload); // z position
00043     i += put_float_by_index(roll, i, msg->payload); // roll orientation
00044     i += put_float_by_index(pitch, i, msg->payload); // pitch orientation
00045     i += put_float_by_index(yaw, i, msg->payload); // yaw orientation
00046 
00047     return mavlink_finalize_message(msg, system_id, component_id, i);
00048 }
00049 
00050 /**
00051  * @brief Pack a marker message
00052  * @param system_id ID of this system
00053  * @param component_id ID of this component (e.g. 200 for IMU)
00054  * @param chan The MAVLink channel this message was sent over
00055  * @param msg The MAVLink message to compress the data into
00056  * @param id ID
00057  * @param x x position
00058  * @param y y position
00059  * @param z z position
00060  * @param roll roll orientation
00061  * @param pitch pitch orientation
00062  * @param yaw yaw orientation
00063  * @return length of the message in bytes (excluding serial stream start sign)
00064  */
00065 static inline uint16_t mavlink_msg_marker_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 roll, float pitch, float yaw)
00066 {
00067     uint16_t i = 0;
00068     msg->msgid = MAVLINK_MSG_ID_MARKER;
00069 
00070     i += put_uint16_t_by_index(id, i, msg->payload); // ID
00071     i += put_float_by_index(x, i, msg->payload); // x position
00072     i += put_float_by_index(y, i, msg->payload); // y position
00073     i += put_float_by_index(z, i, msg->payload); // z position
00074     i += put_float_by_index(roll, i, msg->payload); // roll orientation
00075     i += put_float_by_index(pitch, i, msg->payload); // pitch orientation
00076     i += put_float_by_index(yaw, i, msg->payload); // yaw orientation
00077 
00078     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00079 }
00080 
00081 /**
00082  * @brief Encode a marker struct into a message
00083  *
00084  * @param system_id ID of this system
00085  * @param component_id ID of this component (e.g. 200 for IMU)
00086  * @param msg The MAVLink message to compress the data into
00087  * @param marker C-struct to read the message contents from
00088  */
00089 static inline uint16_t mavlink_msg_marker_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_marker_t* marker)
00090 {
00091     return mavlink_msg_marker_pack(system_id, component_id, msg, marker->id, marker->x, marker->y, marker->z, marker->roll, marker->pitch, marker->yaw);
00092 }
00093 
00094 /**
00095  * @brief Send a marker message
00096  * @param chan MAVLink channel to send the message
00097  *
00098  * @param id ID
00099  * @param x x position
00100  * @param y y position
00101  * @param z z position
00102  * @param roll roll orientation
00103  * @param pitch pitch orientation
00104  * @param yaw yaw orientation
00105  */
00106 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00107 
00108 static inline void mavlink_msg_marker_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw)
00109 {
00110     mavlink_message_t msg;
00111     mavlink_msg_marker_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, id, x, y, z, roll, pitch, yaw);
00112     mavlink_send_uart(chan, &msg);
00113 }
00114 
00115 #endif
00116 // MESSAGE MARKER UNPACKING
00117 
00118 /**
00119  * @brief Get field id from marker message
00120  *
00121  * @return ID
00122  */
00123 static inline uint16_t mavlink_msg_marker_get_id(const mavlink_message_t* msg)
00124 {
00125     generic_16bit r;
00126     r.b[1] = (msg->payload)[0];
00127     r.b[0] = (msg->payload)[1];
00128     return (uint16_t)r.s;
00129 }
00130 
00131 /**
00132  * @brief Get field x from marker message
00133  *
00134  * @return x position
00135  */
00136 static inline float mavlink_msg_marker_get_x(const mavlink_message_t* msg)
00137 {
00138     generic_32bit r;
00139     r.b[3] = (msg->payload+sizeof(uint16_t))[0];
00140     r.b[2] = (msg->payload+sizeof(uint16_t))[1];
00141     r.b[1] = (msg->payload+sizeof(uint16_t))[2];
00142     r.b[0] = (msg->payload+sizeof(uint16_t))[3];
00143     return (float)r.f;
00144 }
00145 
00146 /**
00147  * @brief Get field y from marker message
00148  *
00149  * @return y position
00150  */
00151 static inline float mavlink_msg_marker_get_y(const mavlink_message_t* msg)
00152 {
00153     generic_32bit r;
00154     r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float))[0];
00155     r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float))[1];
00156     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float))[2];
00157     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float))[3];
00158     return (float)r.f;
00159 }
00160 
00161 /**
00162  * @brief Get field z from marker message
00163  *
00164  * @return z position
00165  */
00166 static inline float mavlink_msg_marker_get_z(const mavlink_message_t* msg)
00167 {
00168     generic_32bit r;
00169     r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0];
00170     r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1];
00171     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2];
00172     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3];
00173     return (float)r.f;
00174 }
00175 
00176 /**
00177  * @brief Get field roll from marker message
00178  *
00179  * @return roll orientation
00180  */
00181 static inline float mavlink_msg_marker_get_roll(const mavlink_message_t* msg)
00182 {
00183     generic_32bit r;
00184     r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00185     r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00186     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00187     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00188     return (float)r.f;
00189 }
00190 
00191 /**
00192  * @brief Get field pitch from marker message
00193  *
00194  * @return pitch orientation
00195  */
00196 static inline float mavlink_msg_marker_get_pitch(const mavlink_message_t* msg)
00197 {
00198     generic_32bit r;
00199     r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00200     r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00201     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00202     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00203     return (float)r.f;
00204 }
00205 
00206 /**
00207  * @brief Get field yaw from marker message
00208  *
00209  * @return yaw orientation
00210  */
00211 static inline float mavlink_msg_marker_get_yaw(const mavlink_message_t* msg)
00212 {
00213     generic_32bit r;
00214     r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00215     r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00216     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00217     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00218     return (float)r.f;
00219 }
00220 
00221 /**
00222  * @brief Decode a marker message into a struct
00223  *
00224  * @param msg The message to decode
00225  * @param marker C-struct to decode the message contents into
00226  */
00227 static inline void mavlink_msg_marker_decode(const mavlink_message_t* msg, mavlink_marker_t* marker)
00228 {
00229     marker->id = mavlink_msg_marker_get_id(msg);
00230     marker->x = mavlink_msg_marker_get_x(msg);
00231     marker->y = mavlink_msg_marker_get_y(msg);
00232     marker->z = mavlink_msg_marker_get_z(msg);
00233     marker->roll = mavlink_msg_marker_get_roll(msg);
00234     marker->pitch = mavlink_msg_marker_get_pitch(msg);
00235     marker->yaw = mavlink_msg_marker_get_yaw(msg);
00236 }