Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
mavlink_msg_set_altitude.h
00001 // MESSAGE SET_ALTITUDE PACKING 00002 00003 #define MAVLINK_MSG_ID_SET_ALTITUDE 65 00004 00005 typedef struct __mavlink_set_altitude_t 00006 { 00007 uint8_t target; ///< The system setting the altitude 00008 uint32_t mode; ///< The new altitude in meters 00009 00010 } mavlink_set_altitude_t; 00011 00012 00013 00014 /** 00015 * @brief Pack a set_altitude message 00016 * @param system_id ID of this system 00017 * @param component_id ID of this component (e.g. 200 for IMU) 00018 * @param msg The MAVLink message to compress the data into 00019 * 00020 * @param target The system setting the altitude 00021 * @param mode The new altitude in meters 00022 * @return length of the message in bytes (excluding serial stream start sign) 00023 */ 00024 static inline uint16_t mavlink_msg_set_altitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint32_t mode) 00025 { 00026 uint16_t i = 0; 00027 msg->msgid = MAVLINK_MSG_ID_SET_ALTITUDE; 00028 00029 i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the altitude 00030 i += put_uint32_t_by_index(mode, i, msg->payload); // The new altitude in meters 00031 00032 return mavlink_finalize_message(msg, system_id, component_id, i); 00033 } 00034 00035 /** 00036 * @brief Pack a set_altitude message 00037 * @param system_id ID of this system 00038 * @param component_id ID of this component (e.g. 200 for IMU) 00039 * @param chan The MAVLink channel this message was sent over 00040 * @param msg The MAVLink message to compress the data into 00041 * @param target The system setting the altitude 00042 * @param mode The new altitude in meters 00043 * @return length of the message in bytes (excluding serial stream start sign) 00044 */ 00045 static inline uint16_t mavlink_msg_set_altitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint32_t mode) 00046 { 00047 uint16_t i = 0; 00048 msg->msgid = MAVLINK_MSG_ID_SET_ALTITUDE; 00049 00050 i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the altitude 00051 i += put_uint32_t_by_index(mode, i, msg->payload); // The new altitude in meters 00052 00053 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); 00054 } 00055 00056 /** 00057 * @brief Encode a set_altitude struct into a message 00058 * 00059 * @param system_id ID of this system 00060 * @param component_id ID of this component (e.g. 200 for IMU) 00061 * @param msg The MAVLink message to compress the data into 00062 * @param set_altitude C-struct to read the message contents from 00063 */ 00064 static inline uint16_t mavlink_msg_set_altitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_altitude_t* set_altitude) 00065 { 00066 return mavlink_msg_set_altitude_pack(system_id, component_id, msg, set_altitude->target, set_altitude->mode); 00067 } 00068 00069 /** 00070 * @brief Send a set_altitude message 00071 * @param chan MAVLink channel to send the message 00072 * 00073 * @param target The system setting the altitude 00074 * @param mode The new altitude in meters 00075 */ 00076 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 00077 00078 static inline void mavlink_msg_set_altitude_send(mavlink_channel_t chan, uint8_t target, uint32_t mode) 00079 { 00080 mavlink_message_t msg; 00081 mavlink_msg_set_altitude_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, mode); 00082 mavlink_send_uart(chan, &msg); 00083 } 00084 00085 #endif 00086 // MESSAGE SET_ALTITUDE UNPACKING 00087 00088 /** 00089 * @brief Get field target from set_altitude message 00090 * 00091 * @return The system setting the altitude 00092 */ 00093 static inline uint8_t mavlink_msg_set_altitude_get_target(const mavlink_message_t* msg) 00094 { 00095 return (uint8_t)(msg->payload)[0]; 00096 } 00097 00098 /** 00099 * @brief Get field mode from set_altitude message 00100 * 00101 * @return The new altitude in meters 00102 */ 00103 static inline uint32_t mavlink_msg_set_altitude_get_mode(const mavlink_message_t* msg) 00104 { 00105 generic_32bit r; 00106 r.b[3] = (msg->payload+sizeof(uint8_t))[0]; 00107 r.b[2] = (msg->payload+sizeof(uint8_t))[1]; 00108 r.b[1] = (msg->payload+sizeof(uint8_t))[2]; 00109 r.b[0] = (msg->payload+sizeof(uint8_t))[3]; 00110 return (uint32_t)r.i; 00111 } 00112 00113 /** 00114 * @brief Decode a set_altitude message into a struct 00115 * 00116 * @param msg The message to decode 00117 * @param set_altitude C-struct to decode the message contents into 00118 */ 00119 static inline void mavlink_msg_set_altitude_decode(const mavlink_message_t* msg, mavlink_set_altitude_t* set_altitude) 00120 { 00121 set_altitude->target = mavlink_msg_set_altitude_get_target(msg); 00122 set_altitude->mode = mavlink_msg_set_altitude_get_mode(msg); 00123 }
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