Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
MAVlink/include/common/mavlink_msg_control_status.h@0:a6a169de725f, 2013-05-27 (annotated)
- Committer:
- shimniok
- Date:
- Mon May 27 13:26:03 2013 +0000
- Revision:
- 0:a6a169de725f
Working version with priorities set and update time display
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:a6a169de725f | 1 | // MESSAGE CONTROL_STATUS PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_CONTROL_STATUS 52 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_control_status_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | uint8_t position_fix; ///< Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix |
shimniok | 0:a6a169de725f | 8 | uint8_t vision_fix; ///< Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix |
shimniok | 0:a6a169de725f | 9 | uint8_t gps_fix; ///< GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix |
shimniok | 0:a6a169de725f | 10 | uint8_t ahrs_health; ///< Attitude estimation health: 0: poor, 255: excellent |
shimniok | 0:a6a169de725f | 11 | uint8_t control_att; ///< 0: Attitude control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 12 | uint8_t control_pos_xy; ///< 0: X, Y position control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 13 | uint8_t control_pos_z; ///< 0: Z position control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 14 | uint8_t control_pos_yaw; ///< 0: Yaw angle control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 15 | |
shimniok | 0:a6a169de725f | 16 | } mavlink_control_status_t; |
shimniok | 0:a6a169de725f | 17 | |
shimniok | 0:a6a169de725f | 18 | |
shimniok | 0:a6a169de725f | 19 | |
shimniok | 0:a6a169de725f | 20 | /** |
shimniok | 0:a6a169de725f | 21 | * @brief Pack a control_status message |
shimniok | 0:a6a169de725f | 22 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 23 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 24 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 25 | * |
shimniok | 0:a6a169de725f | 26 | * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix |
shimniok | 0:a6a169de725f | 27 | * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix |
shimniok | 0:a6a169de725f | 28 | * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix |
shimniok | 0:a6a169de725f | 29 | * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent |
shimniok | 0:a6a169de725f | 30 | * @param control_att 0: Attitude control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 31 | * @param control_pos_xy 0: X, Y position control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 32 | * @param control_pos_z 0: Z position control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 33 | * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 34 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 35 | */ |
shimniok | 0:a6a169de725f | 36 | static inline uint16_t mavlink_msg_control_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw) |
shimniok | 0:a6a169de725f | 37 | { |
shimniok | 0:a6a169de725f | 38 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 39 | msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS; |
shimniok | 0:a6a169de725f | 40 | |
shimniok | 0:a6a169de725f | 41 | i += put_uint8_t_by_index(position_fix, i, msg->payload); // Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix |
shimniok | 0:a6a169de725f | 42 | i += put_uint8_t_by_index(vision_fix, i, msg->payload); // Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix |
shimniok | 0:a6a169de725f | 43 | i += put_uint8_t_by_index(gps_fix, i, msg->payload); // GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix |
shimniok | 0:a6a169de725f | 44 | i += put_uint8_t_by_index(ahrs_health, i, msg->payload); // Attitude estimation health: 0: poor, 255: excellent |
shimniok | 0:a6a169de725f | 45 | i += put_uint8_t_by_index(control_att, i, msg->payload); // 0: Attitude control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 46 | i += put_uint8_t_by_index(control_pos_xy, i, msg->payload); // 0: X, Y position control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 47 | i += put_uint8_t_by_index(control_pos_z, i, msg->payload); // 0: Z position control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 48 | i += put_uint8_t_by_index(control_pos_yaw, i, msg->payload); // 0: Yaw angle control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 49 | |
shimniok | 0:a6a169de725f | 50 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 51 | } |
shimniok | 0:a6a169de725f | 52 | |
shimniok | 0:a6a169de725f | 53 | /** |
shimniok | 0:a6a169de725f | 54 | * @brief Pack a control_status message |
shimniok | 0:a6a169de725f | 55 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 56 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 57 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 58 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 59 | * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix |
shimniok | 0:a6a169de725f | 60 | * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix |
shimniok | 0:a6a169de725f | 61 | * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix |
shimniok | 0:a6a169de725f | 62 | * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent |
shimniok | 0:a6a169de725f | 63 | * @param control_att 0: Attitude control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 64 | * @param control_pos_xy 0: X, Y position control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 65 | * @param control_pos_z 0: Z position control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 66 | * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 67 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 68 | */ |
shimniok | 0:a6a169de725f | 69 | static inline uint16_t mavlink_msg_control_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw) |
shimniok | 0:a6a169de725f | 70 | { |
shimniok | 0:a6a169de725f | 71 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 72 | msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS; |
shimniok | 0:a6a169de725f | 73 | |
shimniok | 0:a6a169de725f | 74 | i += put_uint8_t_by_index(position_fix, i, msg->payload); // Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix |
shimniok | 0:a6a169de725f | 75 | i += put_uint8_t_by_index(vision_fix, i, msg->payload); // Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix |
shimniok | 0:a6a169de725f | 76 | i += put_uint8_t_by_index(gps_fix, i, msg->payload); // GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix |
shimniok | 0:a6a169de725f | 77 | i += put_uint8_t_by_index(ahrs_health, i, msg->payload); // Attitude estimation health: 0: poor, 255: excellent |
shimniok | 0:a6a169de725f | 78 | i += put_uint8_t_by_index(control_att, i, msg->payload); // 0: Attitude control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 79 | i += put_uint8_t_by_index(control_pos_xy, i, msg->payload); // 0: X, Y position control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 80 | i += put_uint8_t_by_index(control_pos_z, i, msg->payload); // 0: Z position control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 81 | i += put_uint8_t_by_index(control_pos_yaw, i, msg->payload); // 0: Yaw angle control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 82 | |
shimniok | 0:a6a169de725f | 83 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:a6a169de725f | 84 | } |
shimniok | 0:a6a169de725f | 85 | |
shimniok | 0:a6a169de725f | 86 | /** |
shimniok | 0:a6a169de725f | 87 | * @brief Encode a control_status struct into a message |
shimniok | 0:a6a169de725f | 88 | * |
shimniok | 0:a6a169de725f | 89 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 90 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 91 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 92 | * @param control_status C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 93 | */ |
shimniok | 0:a6a169de725f | 94 | static inline uint16_t mavlink_msg_control_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_status_t* control_status) |
shimniok | 0:a6a169de725f | 95 | { |
shimniok | 0:a6a169de725f | 96 | return mavlink_msg_control_status_pack(system_id, component_id, msg, control_status->position_fix, control_status->vision_fix, control_status->gps_fix, control_status->ahrs_health, control_status->control_att, control_status->control_pos_xy, control_status->control_pos_z, control_status->control_pos_yaw); |
shimniok | 0:a6a169de725f | 97 | } |
shimniok | 0:a6a169de725f | 98 | |
shimniok | 0:a6a169de725f | 99 | /** |
shimniok | 0:a6a169de725f | 100 | * @brief Send a control_status message |
shimniok | 0:a6a169de725f | 101 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 102 | * |
shimniok | 0:a6a169de725f | 103 | * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix |
shimniok | 0:a6a169de725f | 104 | * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix |
shimniok | 0:a6a169de725f | 105 | * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix |
shimniok | 0:a6a169de725f | 106 | * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent |
shimniok | 0:a6a169de725f | 107 | * @param control_att 0: Attitude control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 108 | * @param control_pos_xy 0: X, Y position control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 109 | * @param control_pos_z 0: Z position control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 110 | * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 111 | */ |
shimniok | 0:a6a169de725f | 112 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 113 | |
shimniok | 0:a6a169de725f | 114 | static inline void mavlink_msg_control_status_send(mavlink_channel_t chan, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw) |
shimniok | 0:a6a169de725f | 115 | { |
shimniok | 0:a6a169de725f | 116 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 117 | mavlink_msg_control_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw); |
shimniok | 0:a6a169de725f | 118 | mavlink_send_uart(chan, &msg); |
shimniok | 0:a6a169de725f | 119 | } |
shimniok | 0:a6a169de725f | 120 | |
shimniok | 0:a6a169de725f | 121 | #endif |
shimniok | 0:a6a169de725f | 122 | // MESSAGE CONTROL_STATUS UNPACKING |
shimniok | 0:a6a169de725f | 123 | |
shimniok | 0:a6a169de725f | 124 | /** |
shimniok | 0:a6a169de725f | 125 | * @brief Get field position_fix from control_status message |
shimniok | 0:a6a169de725f | 126 | * |
shimniok | 0:a6a169de725f | 127 | * @return Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix |
shimniok | 0:a6a169de725f | 128 | */ |
shimniok | 0:a6a169de725f | 129 | static inline uint8_t mavlink_msg_control_status_get_position_fix(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 130 | { |
shimniok | 0:a6a169de725f | 131 | return (uint8_t)(msg->payload)[0]; |
shimniok | 0:a6a169de725f | 132 | } |
shimniok | 0:a6a169de725f | 133 | |
shimniok | 0:a6a169de725f | 134 | /** |
shimniok | 0:a6a169de725f | 135 | * @brief Get field vision_fix from control_status message |
shimniok | 0:a6a169de725f | 136 | * |
shimniok | 0:a6a169de725f | 137 | * @return Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix |
shimniok | 0:a6a169de725f | 138 | */ |
shimniok | 0:a6a169de725f | 139 | static inline uint8_t mavlink_msg_control_status_get_vision_fix(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 140 | { |
shimniok | 0:a6a169de725f | 141 | return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 142 | } |
shimniok | 0:a6a169de725f | 143 | |
shimniok | 0:a6a169de725f | 144 | /** |
shimniok | 0:a6a169de725f | 145 | * @brief Get field gps_fix from control_status message |
shimniok | 0:a6a169de725f | 146 | * |
shimniok | 0:a6a169de725f | 147 | * @return GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix |
shimniok | 0:a6a169de725f | 148 | */ |
shimniok | 0:a6a169de725f | 149 | static inline uint8_t mavlink_msg_control_status_get_gps_fix(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 150 | { |
shimniok | 0:a6a169de725f | 151 | return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 152 | } |
shimniok | 0:a6a169de725f | 153 | |
shimniok | 0:a6a169de725f | 154 | /** |
shimniok | 0:a6a169de725f | 155 | * @brief Get field ahrs_health from control_status message |
shimniok | 0:a6a169de725f | 156 | * |
shimniok | 0:a6a169de725f | 157 | * @return Attitude estimation health: 0: poor, 255: excellent |
shimniok | 0:a6a169de725f | 158 | */ |
shimniok | 0:a6a169de725f | 159 | static inline uint8_t mavlink_msg_control_status_get_ahrs_health(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 160 | { |
shimniok | 0:a6a169de725f | 161 | return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 162 | } |
shimniok | 0:a6a169de725f | 163 | |
shimniok | 0:a6a169de725f | 164 | /** |
shimniok | 0:a6a169de725f | 165 | * @brief Get field control_att from control_status message |
shimniok | 0:a6a169de725f | 166 | * |
shimniok | 0:a6a169de725f | 167 | * @return 0: Attitude control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 168 | */ |
shimniok | 0:a6a169de725f | 169 | static inline uint8_t mavlink_msg_control_status_get_control_att(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 170 | { |
shimniok | 0:a6a169de725f | 171 | return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 172 | } |
shimniok | 0:a6a169de725f | 173 | |
shimniok | 0:a6a169de725f | 174 | /** |
shimniok | 0:a6a169de725f | 175 | * @brief Get field control_pos_xy from control_status message |
shimniok | 0:a6a169de725f | 176 | * |
shimniok | 0:a6a169de725f | 177 | * @return 0: X, Y position control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 178 | */ |
shimniok | 0:a6a169de725f | 179 | static inline uint8_t mavlink_msg_control_status_get_control_pos_xy(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 180 | { |
shimniok | 0:a6a169de725f | 181 | return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 182 | } |
shimniok | 0:a6a169de725f | 183 | |
shimniok | 0:a6a169de725f | 184 | /** |
shimniok | 0:a6a169de725f | 185 | * @brief Get field control_pos_z from control_status message |
shimniok | 0:a6a169de725f | 186 | * |
shimniok | 0:a6a169de725f | 187 | * @return 0: Z position control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 188 | */ |
shimniok | 0:a6a169de725f | 189 | static inline uint8_t mavlink_msg_control_status_get_control_pos_z(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 190 | { |
shimniok | 0:a6a169de725f | 191 | return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 192 | } |
shimniok | 0:a6a169de725f | 193 | |
shimniok | 0:a6a169de725f | 194 | /** |
shimniok | 0:a6a169de725f | 195 | * @brief Get field control_pos_yaw from control_status message |
shimniok | 0:a6a169de725f | 196 | * |
shimniok | 0:a6a169de725f | 197 | * @return 0: Yaw angle control disabled, 1: enabled |
shimniok | 0:a6a169de725f | 198 | */ |
shimniok | 0:a6a169de725f | 199 | static inline uint8_t mavlink_msg_control_status_get_control_pos_yaw(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 200 | { |
shimniok | 0:a6a169de725f | 201 | return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 202 | } |
shimniok | 0:a6a169de725f | 203 | |
shimniok | 0:a6a169de725f | 204 | /** |
shimniok | 0:a6a169de725f | 205 | * @brief Decode a control_status message into a struct |
shimniok | 0:a6a169de725f | 206 | * |
shimniok | 0:a6a169de725f | 207 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 208 | * @param control_status C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 209 | */ |
shimniok | 0:a6a169de725f | 210 | static inline void mavlink_msg_control_status_decode(const mavlink_message_t* msg, mavlink_control_status_t* control_status) |
shimniok | 0:a6a169de725f | 211 | { |
shimniok | 0:a6a169de725f | 212 | control_status->position_fix = mavlink_msg_control_status_get_position_fix(msg); |
shimniok | 0:a6a169de725f | 213 | control_status->vision_fix = mavlink_msg_control_status_get_vision_fix(msg); |
shimniok | 0:a6a169de725f | 214 | control_status->gps_fix = mavlink_msg_control_status_get_gps_fix(msg); |
shimniok | 0:a6a169de725f | 215 | control_status->ahrs_health = mavlink_msg_control_status_get_ahrs_health(msg); |
shimniok | 0:a6a169de725f | 216 | control_status->control_att = mavlink_msg_control_status_get_control_att(msg); |
shimniok | 0:a6a169de725f | 217 | control_status->control_pos_xy = mavlink_msg_control_status_get_control_pos_xy(msg); |
shimniok | 0:a6a169de725f | 218 | control_status->control_pos_z = mavlink_msg_control_status_get_control_pos_z(msg); |
shimniok | 0:a6a169de725f | 219 | control_status->control_pos_yaw = mavlink_msg_control_status_get_control_pos_yaw(msg); |
shimniok | 0:a6a169de725f | 220 | } |