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_param_value.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 PARAM_VALUE PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_PARAM_VALUE 22 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_param_value_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | int8_t param_id[15]; ///< Onboard parameter id |
shimniok | 0:a6a169de725f | 8 | float param_value; ///< Onboard parameter value |
shimniok | 0:a6a169de725f | 9 | uint16_t param_count; ///< Total number of onboard parameters |
shimniok | 0:a6a169de725f | 10 | uint16_t param_index; ///< Index of this onboard parameter |
shimniok | 0:a6a169de725f | 11 | |
shimniok | 0:a6a169de725f | 12 | } mavlink_param_value_t; |
shimniok | 0:a6a169de725f | 13 | |
shimniok | 0:a6a169de725f | 14 | #define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 15 |
shimniok | 0:a6a169de725f | 15 | |
shimniok | 0:a6a169de725f | 16 | |
shimniok | 0:a6a169de725f | 17 | /** |
shimniok | 0:a6a169de725f | 18 | * @brief Pack a param_value message |
shimniok | 0:a6a169de725f | 19 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 20 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 21 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 22 | * |
shimniok | 0:a6a169de725f | 23 | * @param param_id Onboard parameter id |
shimniok | 0:a6a169de725f | 24 | * @param param_value Onboard parameter value |
shimniok | 0:a6a169de725f | 25 | * @param param_count Total number of onboard parameters |
shimniok | 0:a6a169de725f | 26 | * @param param_index Index of this onboard parameter |
shimniok | 0:a6a169de725f | 27 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 28 | */ |
shimniok | 0:a6a169de725f | 29 | static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index) |
shimniok | 0:a6a169de725f | 30 | { |
shimniok | 0:a6a169de725f | 31 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 32 | msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; |
shimniok | 0:a6a169de725f | 33 | |
shimniok | 0:a6a169de725f | 34 | i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id |
shimniok | 0:a6a169de725f | 35 | i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value |
shimniok | 0:a6a169de725f | 36 | i += put_uint16_t_by_index(param_count, i, msg->payload); // Total number of onboard parameters |
shimniok | 0:a6a169de725f | 37 | i += put_uint16_t_by_index(param_index, i, msg->payload); // Index of this onboard parameter |
shimniok | 0:a6a169de725f | 38 | |
shimniok | 0:a6a169de725f | 39 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 40 | } |
shimniok | 0:a6a169de725f | 41 | |
shimniok | 0:a6a169de725f | 42 | /** |
shimniok | 0:a6a169de725f | 43 | * @brief Pack a param_value message |
shimniok | 0:a6a169de725f | 44 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 45 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 46 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 47 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 48 | * @param param_id Onboard parameter id |
shimniok | 0:a6a169de725f | 49 | * @param param_value Onboard parameter value |
shimniok | 0:a6a169de725f | 50 | * @param param_count Total number of onboard parameters |
shimniok | 0:a6a169de725f | 51 | * @param param_index Index of this onboard parameter |
shimniok | 0:a6a169de725f | 52 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 53 | */ |
shimniok | 0:a6a169de725f | 54 | static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index) |
shimniok | 0:a6a169de725f | 55 | { |
shimniok | 0:a6a169de725f | 56 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 57 | msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; |
shimniok | 0:a6a169de725f | 58 | |
shimniok | 0:a6a169de725f | 59 | i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id |
shimniok | 0:a6a169de725f | 60 | i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value |
shimniok | 0:a6a169de725f | 61 | i += put_uint16_t_by_index(param_count, i, msg->payload); // Total number of onboard parameters |
shimniok | 0:a6a169de725f | 62 | i += put_uint16_t_by_index(param_index, i, msg->payload); // Index of this onboard parameter |
shimniok | 0:a6a169de725f | 63 | |
shimniok | 0:a6a169de725f | 64 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:a6a169de725f | 65 | } |
shimniok | 0:a6a169de725f | 66 | |
shimniok | 0:a6a169de725f | 67 | /** |
shimniok | 0:a6a169de725f | 68 | * @brief Encode a param_value struct into a message |
shimniok | 0:a6a169de725f | 69 | * |
shimniok | 0:a6a169de725f | 70 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 71 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 72 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 73 | * @param param_value C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 74 | */ |
shimniok | 0:a6a169de725f | 75 | static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_value_t* param_value) |
shimniok | 0:a6a169de725f | 76 | { |
shimniok | 0:a6a169de725f | 77 | return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_count, param_value->param_index); |
shimniok | 0:a6a169de725f | 78 | } |
shimniok | 0:a6a169de725f | 79 | |
shimniok | 0:a6a169de725f | 80 | /** |
shimniok | 0:a6a169de725f | 81 | * @brief Send a param_value message |
shimniok | 0:a6a169de725f | 82 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 83 | * |
shimniok | 0:a6a169de725f | 84 | * @param param_id Onboard parameter id |
shimniok | 0:a6a169de725f | 85 | * @param param_value Onboard parameter value |
shimniok | 0:a6a169de725f | 86 | * @param param_count Total number of onboard parameters |
shimniok | 0:a6a169de725f | 87 | * @param param_index Index of this onboard parameter |
shimniok | 0:a6a169de725f | 88 | */ |
shimniok | 0:a6a169de725f | 89 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 90 | |
shimniok | 0:a6a169de725f | 91 | static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index) |
shimniok | 0:a6a169de725f | 92 | { |
shimniok | 0:a6a169de725f | 93 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 94 | mavlink_msg_param_value_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, param_id, param_value, param_count, param_index); |
shimniok | 0:a6a169de725f | 95 | mavlink_send_uart(chan, &msg); |
shimniok | 0:a6a169de725f | 96 | } |
shimniok | 0:a6a169de725f | 97 | |
shimniok | 0:a6a169de725f | 98 | #endif |
shimniok | 0:a6a169de725f | 99 | // MESSAGE PARAM_VALUE UNPACKING |
shimniok | 0:a6a169de725f | 100 | |
shimniok | 0:a6a169de725f | 101 | /** |
shimniok | 0:a6a169de725f | 102 | * @brief Get field param_id from param_value message |
shimniok | 0:a6a169de725f | 103 | * |
shimniok | 0:a6a169de725f | 104 | * @return Onboard parameter id |
shimniok | 0:a6a169de725f | 105 | */ |
shimniok | 0:a6a169de725f | 106 | static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, int8_t* r_data) |
shimniok | 0:a6a169de725f | 107 | { |
shimniok | 0:a6a169de725f | 108 | |
shimniok | 0:a6a169de725f | 109 | memcpy(r_data, msg->payload, 15); |
shimniok | 0:a6a169de725f | 110 | return 15; |
shimniok | 0:a6a169de725f | 111 | } |
shimniok | 0:a6a169de725f | 112 | |
shimniok | 0:a6a169de725f | 113 | /** |
shimniok | 0:a6a169de725f | 114 | * @brief Get field param_value from param_value message |
shimniok | 0:a6a169de725f | 115 | * |
shimniok | 0:a6a169de725f | 116 | * @return Onboard parameter value |
shimniok | 0:a6a169de725f | 117 | */ |
shimniok | 0:a6a169de725f | 118 | static inline float mavlink_msg_param_value_get_param_value(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 119 | { |
shimniok | 0:a6a169de725f | 120 | generic_32bit r; |
shimniok | 0:a6a169de725f | 121 | r.b[3] = (msg->payload+15)[0]; |
shimniok | 0:a6a169de725f | 122 | r.b[2] = (msg->payload+15)[1]; |
shimniok | 0:a6a169de725f | 123 | r.b[1] = (msg->payload+15)[2]; |
shimniok | 0:a6a169de725f | 124 | r.b[0] = (msg->payload+15)[3]; |
shimniok | 0:a6a169de725f | 125 | return (float)r.f; |
shimniok | 0:a6a169de725f | 126 | } |
shimniok | 0:a6a169de725f | 127 | |
shimniok | 0:a6a169de725f | 128 | /** |
shimniok | 0:a6a169de725f | 129 | * @brief Get field param_count from param_value message |
shimniok | 0:a6a169de725f | 130 | * |
shimniok | 0:a6a169de725f | 131 | * @return Total number of onboard parameters |
shimniok | 0:a6a169de725f | 132 | */ |
shimniok | 0:a6a169de725f | 133 | static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 134 | { |
shimniok | 0:a6a169de725f | 135 | generic_16bit r; |
shimniok | 0:a6a169de725f | 136 | r.b[1] = (msg->payload+15+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 137 | r.b[0] = (msg->payload+15+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 138 | return (uint16_t)r.s; |
shimniok | 0:a6a169de725f | 139 | } |
shimniok | 0:a6a169de725f | 140 | |
shimniok | 0:a6a169de725f | 141 | /** |
shimniok | 0:a6a169de725f | 142 | * @brief Get field param_index from param_value message |
shimniok | 0:a6a169de725f | 143 | * |
shimniok | 0:a6a169de725f | 144 | * @return Index of this onboard parameter |
shimniok | 0:a6a169de725f | 145 | */ |
shimniok | 0:a6a169de725f | 146 | static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 147 | { |
shimniok | 0:a6a169de725f | 148 | generic_16bit r; |
shimniok | 0:a6a169de725f | 149 | r.b[1] = (msg->payload+15+sizeof(float)+sizeof(uint16_t))[0]; |
shimniok | 0:a6a169de725f | 150 | r.b[0] = (msg->payload+15+sizeof(float)+sizeof(uint16_t))[1]; |
shimniok | 0:a6a169de725f | 151 | return (uint16_t)r.s; |
shimniok | 0:a6a169de725f | 152 | } |
shimniok | 0:a6a169de725f | 153 | |
shimniok | 0:a6a169de725f | 154 | /** |
shimniok | 0:a6a169de725f | 155 | * @brief Decode a param_value message into a struct |
shimniok | 0:a6a169de725f | 156 | * |
shimniok | 0:a6a169de725f | 157 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 158 | * @param param_value C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 159 | */ |
shimniok | 0:a6a169de725f | 160 | static inline void mavlink_msg_param_value_decode(const mavlink_message_t* msg, mavlink_param_value_t* param_value) |
shimniok | 0:a6a169de725f | 161 | { |
shimniok | 0:a6a169de725f | 162 | mavlink_msg_param_value_get_param_id(msg, param_value->param_id); |
shimniok | 0:a6a169de725f | 163 | param_value->param_value = mavlink_msg_param_value_get_param_value(msg); |
shimniok | 0:a6a169de725f | 164 | param_value->param_count = mavlink_msg_param_value_get_param_count(msg); |
shimniok | 0:a6a169de725f | 165 | param_value->param_index = mavlink_msg_param_value_get_param_index(msg); |
shimniok | 0:a6a169de725f | 166 | } |