Michael Shimniok / Mbed 2 deprecated DataBus

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_gps_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?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 // MESSAGE GPS_STATUS PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_GPS_STATUS 27
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_gps_status_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint8_t satellites_visible; ///< Number of satellites visible
shimniok 0:a6a169de725f 8 int8_t satellite_prn[20]; ///< Global satellite ID
shimniok 0:a6a169de725f 9 int8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization
shimniok 0:a6a169de725f 10 int8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite
shimniok 0:a6a169de725f 11 int8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg.
shimniok 0:a6a169de725f 12 int8_t satellite_snr[20]; ///< Signal to noise ratio of satellite
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14 } mavlink_gps_status_t;
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20
shimniok 0:a6a169de725f 17 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20
shimniok 0:a6a169de725f 18 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20
shimniok 0:a6a169de725f 19 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20
shimniok 0:a6a169de725f 20 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20
shimniok 0:a6a169de725f 21
shimniok 0:a6a169de725f 22
shimniok 0:a6a169de725f 23 /**
shimniok 0:a6a169de725f 24 * @brief Pack a gps_status message
shimniok 0:a6a169de725f 25 * @param system_id ID of this system
shimniok 0:a6a169de725f 26 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 27 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 28 *
shimniok 0:a6a169de725f 29 * @param satellites_visible Number of satellites visible
shimniok 0:a6a169de725f 30 * @param satellite_prn Global satellite ID
shimniok 0:a6a169de725f 31 * @param satellite_used 0: Satellite not used, 1: used for localization
shimniok 0:a6a169de725f 32 * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
shimniok 0:a6a169de725f 33 * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
shimniok 0:a6a169de725f 34 * @param satellite_snr Signal to noise ratio of satellite
shimniok 0:a6a169de725f 35 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 36 */
shimniok 0:a6a169de725f 37 static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t satellites_visible, const int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr)
shimniok 0:a6a169de725f 38 {
shimniok 0:a6a169de725f 39 uint16_t i = 0;
shimniok 0:a6a169de725f 40 msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
shimniok 0:a6a169de725f 41
shimniok 0:a6a169de725f 42 i += put_uint8_t_by_index(satellites_visible, i, msg->payload); // Number of satellites visible
shimniok 0:a6a169de725f 43 i += put_array_by_index(satellite_prn, 20, i, msg->payload); // Global satellite ID
shimniok 0:a6a169de725f 44 i += put_array_by_index(satellite_used, 20, i, msg->payload); // 0: Satellite not used, 1: used for localization
shimniok 0:a6a169de725f 45 i += put_array_by_index(satellite_elevation, 20, i, msg->payload); // Elevation (0: right on top of receiver, 90: on the horizon) of satellite
shimniok 0:a6a169de725f 46 i += put_array_by_index(satellite_azimuth, 20, i, msg->payload); // Direction of satellite, 0: 0 deg, 255: 360 deg.
shimniok 0:a6a169de725f 47 i += put_array_by_index(satellite_snr, 20, i, msg->payload); // Signal to noise ratio of satellite
shimniok 0:a6a169de725f 48
shimniok 0:a6a169de725f 49 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 50 }
shimniok 0:a6a169de725f 51
shimniok 0:a6a169de725f 52 /**
shimniok 0:a6a169de725f 53 * @brief Pack a gps_status message
shimniok 0:a6a169de725f 54 * @param system_id ID of this system
shimniok 0:a6a169de725f 55 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 56 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 57 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 58 * @param satellites_visible Number of satellites visible
shimniok 0:a6a169de725f 59 * @param satellite_prn Global satellite ID
shimniok 0:a6a169de725f 60 * @param satellite_used 0: Satellite not used, 1: used for localization
shimniok 0:a6a169de725f 61 * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
shimniok 0:a6a169de725f 62 * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
shimniok 0:a6a169de725f 63 * @param satellite_snr Signal to noise ratio of satellite
shimniok 0:a6a169de725f 64 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 65 */
shimniok 0:a6a169de725f 66 static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t satellites_visible, const int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr)
shimniok 0:a6a169de725f 67 {
shimniok 0:a6a169de725f 68 uint16_t i = 0;
shimniok 0:a6a169de725f 69 msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
shimniok 0:a6a169de725f 70
shimniok 0:a6a169de725f 71 i += put_uint8_t_by_index(satellites_visible, i, msg->payload); // Number of satellites visible
shimniok 0:a6a169de725f 72 i += put_array_by_index(satellite_prn, 20, i, msg->payload); // Global satellite ID
shimniok 0:a6a169de725f 73 i += put_array_by_index(satellite_used, 20, i, msg->payload); // 0: Satellite not used, 1: used for localization
shimniok 0:a6a169de725f 74 i += put_array_by_index(satellite_elevation, 20, i, msg->payload); // Elevation (0: right on top of receiver, 90: on the horizon) of satellite
shimniok 0:a6a169de725f 75 i += put_array_by_index(satellite_azimuth, 20, i, msg->payload); // Direction of satellite, 0: 0 deg, 255: 360 deg.
shimniok 0:a6a169de725f 76 i += put_array_by_index(satellite_snr, 20, i, msg->payload); // Signal to noise ratio of satellite
shimniok 0:a6a169de725f 77
shimniok 0:a6a169de725f 78 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 79 }
shimniok 0:a6a169de725f 80
shimniok 0:a6a169de725f 81 /**
shimniok 0:a6a169de725f 82 * @brief Encode a gps_status struct into a message
shimniok 0:a6a169de725f 83 *
shimniok 0:a6a169de725f 84 * @param system_id ID of this system
shimniok 0:a6a169de725f 85 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 86 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 87 * @param gps_status C-struct to read the message contents from
shimniok 0:a6a169de725f 88 */
shimniok 0:a6a169de725f 89 static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status)
shimniok 0:a6a169de725f 90 {
shimniok 0:a6a169de725f 91 return mavlink_msg_gps_status_pack(system_id, component_id, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr);
shimniok 0:a6a169de725f 92 }
shimniok 0:a6a169de725f 93
shimniok 0:a6a169de725f 94 /**
shimniok 0:a6a169de725f 95 * @brief Send a gps_status message
shimniok 0:a6a169de725f 96 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 97 *
shimniok 0:a6a169de725f 98 * @param satellites_visible Number of satellites visible
shimniok 0:a6a169de725f 99 * @param satellite_prn Global satellite ID
shimniok 0:a6a169de725f 100 * @param satellite_used 0: Satellite not used, 1: used for localization
shimniok 0:a6a169de725f 101 * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
shimniok 0:a6a169de725f 102 * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
shimniok 0:a6a169de725f 103 * @param satellite_snr Signal to noise ratio of satellite
shimniok 0:a6a169de725f 104 */
shimniok 0:a6a169de725f 105 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 106
shimniok 0:a6a169de725f 107 static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr)
shimniok 0:a6a169de725f 108 {
shimniok 0:a6a169de725f 109 mavlink_message_t msg;
shimniok 0:a6a169de725f 110 mavlink_msg_gps_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr);
shimniok 0:a6a169de725f 111 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 112 }
shimniok 0:a6a169de725f 113
shimniok 0:a6a169de725f 114 #endif
shimniok 0:a6a169de725f 115 // MESSAGE GPS_STATUS UNPACKING
shimniok 0:a6a169de725f 116
shimniok 0:a6a169de725f 117 /**
shimniok 0:a6a169de725f 118 * @brief Get field satellites_visible from gps_status message
shimniok 0:a6a169de725f 119 *
shimniok 0:a6a169de725f 120 * @return Number of satellites visible
shimniok 0:a6a169de725f 121 */
shimniok 0:a6a169de725f 122 static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 123 {
shimniok 0:a6a169de725f 124 return (uint8_t)(msg->payload)[0];
shimniok 0:a6a169de725f 125 }
shimniok 0:a6a169de725f 126
shimniok 0:a6a169de725f 127 /**
shimniok 0:a6a169de725f 128 * @brief Get field satellite_prn from gps_status message
shimniok 0:a6a169de725f 129 *
shimniok 0:a6a169de725f 130 * @return Global satellite ID
shimniok 0:a6a169de725f 131 */
shimniok 0:a6a169de725f 132 static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, int8_t* r_data)
shimniok 0:a6a169de725f 133 {
shimniok 0:a6a169de725f 134
shimniok 0:a6a169de725f 135 memcpy(r_data, msg->payload+sizeof(uint8_t), 20);
shimniok 0:a6a169de725f 136 return 20;
shimniok 0:a6a169de725f 137 }
shimniok 0:a6a169de725f 138
shimniok 0:a6a169de725f 139 /**
shimniok 0:a6a169de725f 140 * @brief Get field satellite_used from gps_status message
shimniok 0:a6a169de725f 141 *
shimniok 0:a6a169de725f 142 * @return 0: Satellite not used, 1: used for localization
shimniok 0:a6a169de725f 143 */
shimniok 0:a6a169de725f 144 static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, int8_t* r_data)
shimniok 0:a6a169de725f 145 {
shimniok 0:a6a169de725f 146
shimniok 0:a6a169de725f 147 memcpy(r_data, msg->payload+sizeof(uint8_t)+20, 20);
shimniok 0:a6a169de725f 148 return 20;
shimniok 0:a6a169de725f 149 }
shimniok 0:a6a169de725f 150
shimniok 0:a6a169de725f 151 /**
shimniok 0:a6a169de725f 152 * @brief Get field satellite_elevation from gps_status message
shimniok 0:a6a169de725f 153 *
shimniok 0:a6a169de725f 154 * @return Elevation (0: right on top of receiver, 90: on the horizon) of satellite
shimniok 0:a6a169de725f 155 */
shimniok 0:a6a169de725f 156 static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, int8_t* r_data)
shimniok 0:a6a169de725f 157 {
shimniok 0:a6a169de725f 158
shimniok 0:a6a169de725f 159 memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20, 20);
shimniok 0:a6a169de725f 160 return 20;
shimniok 0:a6a169de725f 161 }
shimniok 0:a6a169de725f 162
shimniok 0:a6a169de725f 163 /**
shimniok 0:a6a169de725f 164 * @brief Get field satellite_azimuth from gps_status message
shimniok 0:a6a169de725f 165 *
shimniok 0:a6a169de725f 166 * @return Direction of satellite, 0: 0 deg, 255: 360 deg.
shimniok 0:a6a169de725f 167 */
shimniok 0:a6a169de725f 168 static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, int8_t* r_data)
shimniok 0:a6a169de725f 169 {
shimniok 0:a6a169de725f 170
shimniok 0:a6a169de725f 171 memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20+20, 20);
shimniok 0:a6a169de725f 172 return 20;
shimniok 0:a6a169de725f 173 }
shimniok 0:a6a169de725f 174
shimniok 0:a6a169de725f 175 /**
shimniok 0:a6a169de725f 176 * @brief Get field satellite_snr from gps_status message
shimniok 0:a6a169de725f 177 *
shimniok 0:a6a169de725f 178 * @return Signal to noise ratio of satellite
shimniok 0:a6a169de725f 179 */
shimniok 0:a6a169de725f 180 static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, int8_t* r_data)
shimniok 0:a6a169de725f 181 {
shimniok 0:a6a169de725f 182
shimniok 0:a6a169de725f 183 memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20+20+20, 20);
shimniok 0:a6a169de725f 184 return 20;
shimniok 0:a6a169de725f 185 }
shimniok 0:a6a169de725f 186
shimniok 0:a6a169de725f 187 /**
shimniok 0:a6a169de725f 188 * @brief Decode a gps_status message into a struct
shimniok 0:a6a169de725f 189 *
shimniok 0:a6a169de725f 190 * @param msg The message to decode
shimniok 0:a6a169de725f 191 * @param gps_status C-struct to decode the message contents into
shimniok 0:a6a169de725f 192 */
shimniok 0:a6a169de725f 193 static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status)
shimniok 0:a6a169de725f 194 {
shimniok 0:a6a169de725f 195 gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg);
shimniok 0:a6a169de725f 196 mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn);
shimniok 0:a6a169de725f 197 mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used);
shimniok 0:a6a169de725f 198 mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation);
shimniok 0:a6a169de725f 199 mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth);
shimniok 0:a6a169de725f 200 mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr);
shimniok 0:a6a169de725f 201 }