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_ualberta_sys_status.h
00001 // MESSAGE UALBERTA_SYS_STATUS PACKING 00002 00003 #define MAVLINK_MSG_ID_UALBERTA_SYS_STATUS 222 00004 00005 typedef struct __mavlink_ualberta_sys_status_t 00006 { 00007 uint8_t mode; ///< System mode, see UALBERTA_AUTOPILOT_MODE ENUM 00008 uint8_t nav_mode; ///< Navigation mode, see UALBERTA_NAV_MODE ENUM 00009 uint8_t pilot; ///< Pilot mode, see UALBERTA_PILOT_MODE 00010 00011 } mavlink_ualberta_sys_status_t; 00012 00013 00014 00015 /** 00016 * @brief Pack a ualberta_sys_status message 00017 * @param system_id ID of this system 00018 * @param component_id ID of this component (e.g. 200 for IMU) 00019 * @param msg The MAVLink message to compress the data into 00020 * 00021 * @param mode System mode, see UALBERTA_AUTOPILOT_MODE ENUM 00022 * @param nav_mode Navigation mode, see UALBERTA_NAV_MODE ENUM 00023 * @param pilot Pilot mode, see UALBERTA_PILOT_MODE 00024 * @return length of the message in bytes (excluding serial stream start sign) 00025 */ 00026 static inline uint16_t mavlink_msg_ualberta_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t pilot) 00027 { 00028 uint16_t i = 0; 00029 msg->msgid = MAVLINK_MSG_ID_UALBERTA_SYS_STATUS; 00030 00031 i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see UALBERTA_AUTOPILOT_MODE ENUM 00032 i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see UALBERTA_NAV_MODE ENUM 00033 i += put_uint8_t_by_index(pilot, i, msg->payload); // Pilot mode, see UALBERTA_PILOT_MODE 00034 00035 return mavlink_finalize_message(msg, system_id, component_id, i); 00036 } 00037 00038 /** 00039 * @brief Pack a ualberta_sys_status message 00040 * @param system_id ID of this system 00041 * @param component_id ID of this component (e.g. 200 for IMU) 00042 * @param chan The MAVLink channel this message was sent over 00043 * @param msg The MAVLink message to compress the data into 00044 * @param mode System mode, see UALBERTA_AUTOPILOT_MODE ENUM 00045 * @param nav_mode Navigation mode, see UALBERTA_NAV_MODE ENUM 00046 * @param pilot Pilot mode, see UALBERTA_PILOT_MODE 00047 * @return length of the message in bytes (excluding serial stream start sign) 00048 */ 00049 static inline uint16_t mavlink_msg_ualberta_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t pilot) 00050 { 00051 uint16_t i = 0; 00052 msg->msgid = MAVLINK_MSG_ID_UALBERTA_SYS_STATUS; 00053 00054 i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see UALBERTA_AUTOPILOT_MODE ENUM 00055 i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see UALBERTA_NAV_MODE ENUM 00056 i += put_uint8_t_by_index(pilot, i, msg->payload); // Pilot mode, see UALBERTA_PILOT_MODE 00057 00058 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); 00059 } 00060 00061 /** 00062 * @brief Encode a ualberta_sys_status struct into a message 00063 * 00064 * @param system_id ID of this system 00065 * @param component_id ID of this component (e.g. 200 for IMU) 00066 * @param msg The MAVLink message to compress the data into 00067 * @param ualberta_sys_status C-struct to read the message contents from 00068 */ 00069 static inline uint16_t mavlink_msg_ualberta_sys_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ualberta_sys_status_t* ualberta_sys_status) 00070 { 00071 return mavlink_msg_ualberta_sys_status_pack(system_id, component_id, msg, ualberta_sys_status->mode, ualberta_sys_status->nav_mode, ualberta_sys_status->pilot); 00072 } 00073 00074 /** 00075 * @brief Send a ualberta_sys_status message 00076 * @param chan MAVLink channel to send the message 00077 * 00078 * @param mode System mode, see UALBERTA_AUTOPILOT_MODE ENUM 00079 * @param nav_mode Navigation mode, see UALBERTA_NAV_MODE ENUM 00080 * @param pilot Pilot mode, see UALBERTA_PILOT_MODE 00081 */ 00082 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 00083 00084 static inline void mavlink_msg_ualberta_sys_status_send(mavlink_channel_t chan, uint8_t mode, uint8_t nav_mode, uint8_t pilot) 00085 { 00086 mavlink_message_t msg; 00087 mavlink_msg_ualberta_sys_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mode, nav_mode, pilot); 00088 mavlink_send_uart(chan, &msg); 00089 } 00090 00091 #endif 00092 // MESSAGE UALBERTA_SYS_STATUS UNPACKING 00093 00094 /** 00095 * @brief Get field mode from ualberta_sys_status message 00096 * 00097 * @return System mode, see UALBERTA_AUTOPILOT_MODE ENUM 00098 */ 00099 static inline uint8_t mavlink_msg_ualberta_sys_status_get_mode(const mavlink_message_t* msg) 00100 { 00101 return (uint8_t)(msg->payload)[0]; 00102 } 00103 00104 /** 00105 * @brief Get field nav_mode from ualberta_sys_status message 00106 * 00107 * @return Navigation mode, see UALBERTA_NAV_MODE ENUM 00108 */ 00109 static inline uint8_t mavlink_msg_ualberta_sys_status_get_nav_mode(const mavlink_message_t* msg) 00110 { 00111 return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; 00112 } 00113 00114 /** 00115 * @brief Get field pilot from ualberta_sys_status message 00116 * 00117 * @return Pilot mode, see UALBERTA_PILOT_MODE 00118 */ 00119 static inline uint8_t mavlink_msg_ualberta_sys_status_get_pilot(const mavlink_message_t* msg) 00120 { 00121 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; 00122 } 00123 00124 /** 00125 * @brief Decode a ualberta_sys_status message into a struct 00126 * 00127 * @param msg The message to decode 00128 * @param ualberta_sys_status C-struct to decode the message contents into 00129 */ 00130 static inline void mavlink_msg_ualberta_sys_status_decode(const mavlink_message_t* msg, mavlink_ualberta_sys_status_t* ualberta_sys_status) 00131 { 00132 ualberta_sys_status->mode = mavlink_msg_ualberta_sys_status_get_mode(msg); 00133 ualberta_sys_status->nav_mode = mavlink_msg_ualberta_sys_status_get_nav_mode(msg); 00134 ualberta_sys_status->pilot = mavlink_msg_ualberta_sys_status_get_pilot(msg); 00135 }
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