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_sys_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 SYS_STATUS PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_SYS_STATUS 34 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_sys_status_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | uint8_t mode; ///< System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h |
shimniok | 0:a6a169de725f | 8 | uint8_t nav_mode; ///< Navigation mode, see MAV_NAV_MODE ENUM |
shimniok | 0:a6a169de725f | 9 | uint8_t status; ///< System status flag, see MAV_STATUS ENUM |
shimniok | 0:a6a169de725f | 10 | uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 |
shimniok | 0:a6a169de725f | 11 | uint16_t vbat; ///< Battery voltage, in millivolts (1 = 1 millivolt) |
shimniok | 0:a6a169de725f | 12 | uint16_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 1000) |
shimniok | 0:a6a169de725f | 13 | uint16_t packet_drop; ///< Dropped packets (packets that were corrupted on reception on the MAV) |
shimniok | 0:a6a169de725f | 14 | |
shimniok | 0:a6a169de725f | 15 | } mavlink_sys_status_t; |
shimniok | 0:a6a169de725f | 16 | |
shimniok | 0:a6a169de725f | 17 | |
shimniok | 0:a6a169de725f | 18 | |
shimniok | 0:a6a169de725f | 19 | /** |
shimniok | 0:a6a169de725f | 20 | * @brief Pack a sys_status message |
shimniok | 0:a6a169de725f | 21 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 22 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 23 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 24 | * |
shimniok | 0:a6a169de725f | 25 | * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h |
shimniok | 0:a6a169de725f | 26 | * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM |
shimniok | 0:a6a169de725f | 27 | * @param status System status flag, see MAV_STATUS ENUM |
shimniok | 0:a6a169de725f | 28 | * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 |
shimniok | 0:a6a169de725f | 29 | * @param vbat Battery voltage, in millivolts (1 = 1 millivolt) |
shimniok | 0:a6a169de725f | 30 | * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000) |
shimniok | 0:a6a169de725f | 31 | * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV) |
shimniok | 0:a6a169de725f | 32 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 33 | */ |
shimniok | 0:a6a169de725f | 34 | static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop) |
shimniok | 0:a6a169de725f | 35 | { |
shimniok | 0:a6a169de725f | 36 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 37 | msg->msgid = MAVLINK_MSG_ID_SYS_STATUS; |
shimniok | 0:a6a169de725f | 38 | |
shimniok | 0:a6a169de725f | 39 | i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h |
shimniok | 0:a6a169de725f | 40 | i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see MAV_NAV_MODE ENUM |
shimniok | 0:a6a169de725f | 41 | i += put_uint8_t_by_index(status, i, msg->payload); // System status flag, see MAV_STATUS ENUM |
shimniok | 0:a6a169de725f | 42 | i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 |
shimniok | 0:a6a169de725f | 43 | i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage, in millivolts (1 = 1 millivolt) |
shimniok | 0:a6a169de725f | 44 | i += put_uint16_t_by_index(battery_remaining, i, msg->payload); // Remaining battery energy: (0%: 0, 100%: 1000) |
shimniok | 0:a6a169de725f | 45 | i += put_uint16_t_by_index(packet_drop, i, msg->payload); // Dropped packets (packets that were corrupted on reception on the MAV) |
shimniok | 0:a6a169de725f | 46 | |
shimniok | 0:a6a169de725f | 47 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 48 | } |
shimniok | 0:a6a169de725f | 49 | |
shimniok | 0:a6a169de725f | 50 | /** |
shimniok | 0:a6a169de725f | 51 | * @brief Pack a sys_status message |
shimniok | 0:a6a169de725f | 52 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 53 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 54 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 55 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 56 | * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h |
shimniok | 0:a6a169de725f | 57 | * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM |
shimniok | 0:a6a169de725f | 58 | * @param status System status flag, see MAV_STATUS ENUM |
shimniok | 0:a6a169de725f | 59 | * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 |
shimniok | 0:a6a169de725f | 60 | * @param vbat Battery voltage, in millivolts (1 = 1 millivolt) |
shimniok | 0:a6a169de725f | 61 | * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000) |
shimniok | 0:a6a169de725f | 62 | * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV) |
shimniok | 0:a6a169de725f | 63 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 64 | */ |
shimniok | 0:a6a169de725f | 65 | static inline uint16_t mavlink_msg_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 status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop) |
shimniok | 0:a6a169de725f | 66 | { |
shimniok | 0:a6a169de725f | 67 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 68 | msg->msgid = MAVLINK_MSG_ID_SYS_STATUS; |
shimniok | 0:a6a169de725f | 69 | |
shimniok | 0:a6a169de725f | 70 | i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h |
shimniok | 0:a6a169de725f | 71 | i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see MAV_NAV_MODE ENUM |
shimniok | 0:a6a169de725f | 72 | i += put_uint8_t_by_index(status, i, msg->payload); // System status flag, see MAV_STATUS ENUM |
shimniok | 0:a6a169de725f | 73 | i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 |
shimniok | 0:a6a169de725f | 74 | i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage, in millivolts (1 = 1 millivolt) |
shimniok | 0:a6a169de725f | 75 | i += put_uint16_t_by_index(battery_remaining, i, msg->payload); // Remaining battery energy: (0%: 0, 100%: 1000) |
shimniok | 0:a6a169de725f | 76 | i += put_uint16_t_by_index(packet_drop, i, msg->payload); // Dropped packets (packets that were corrupted on reception on the MAV) |
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 sys_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 sys_status C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 88 | */ |
shimniok | 0:a6a169de725f | 89 | static inline uint16_t mavlink_msg_sys_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sys_status_t* sys_status) |
shimniok | 0:a6a169de725f | 90 | { |
shimniok | 0:a6a169de725f | 91 | return mavlink_msg_sys_status_pack(system_id, component_id, msg, sys_status->mode, sys_status->nav_mode, sys_status->status, sys_status->load, sys_status->vbat, sys_status->battery_remaining, sys_status->packet_drop); |
shimniok | 0:a6a169de725f | 92 | } |
shimniok | 0:a6a169de725f | 93 | |
shimniok | 0:a6a169de725f | 94 | /** |
shimniok | 0:a6a169de725f | 95 | * @brief Send a sys_status message |
shimniok | 0:a6a169de725f | 96 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 97 | * |
shimniok | 0:a6a169de725f | 98 | * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h |
shimniok | 0:a6a169de725f | 99 | * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM |
shimniok | 0:a6a169de725f | 100 | * @param status System status flag, see MAV_STATUS ENUM |
shimniok | 0:a6a169de725f | 101 | * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 |
shimniok | 0:a6a169de725f | 102 | * @param vbat Battery voltage, in millivolts (1 = 1 millivolt) |
shimniok | 0:a6a169de725f | 103 | * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000) |
shimniok | 0:a6a169de725f | 104 | * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV) |
shimniok | 0:a6a169de725f | 105 | */ |
shimniok | 0:a6a169de725f | 106 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 107 | |
shimniok | 0:a6a169de725f | 108 | static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop) |
shimniok | 0:a6a169de725f | 109 | { |
shimniok | 0:a6a169de725f | 110 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 111 | mavlink_msg_sys_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mode, nav_mode, status, load, vbat, battery_remaining, packet_drop); |
shimniok | 0:a6a169de725f | 112 | mavlink_send_uart(chan, &msg); |
shimniok | 0:a6a169de725f | 113 | } |
shimniok | 0:a6a169de725f | 114 | |
shimniok | 0:a6a169de725f | 115 | #endif |
shimniok | 0:a6a169de725f | 116 | // MESSAGE SYS_STATUS UNPACKING |
shimniok | 0:a6a169de725f | 117 | |
shimniok | 0:a6a169de725f | 118 | /** |
shimniok | 0:a6a169de725f | 119 | * @brief Get field mode from sys_status message |
shimniok | 0:a6a169de725f | 120 | * |
shimniok | 0:a6a169de725f | 121 | * @return System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h |
shimniok | 0:a6a169de725f | 122 | */ |
shimniok | 0:a6a169de725f | 123 | static inline uint8_t mavlink_msg_sys_status_get_mode(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 124 | { |
shimniok | 0:a6a169de725f | 125 | return (uint8_t)(msg->payload)[0]; |
shimniok | 0:a6a169de725f | 126 | } |
shimniok | 0:a6a169de725f | 127 | |
shimniok | 0:a6a169de725f | 128 | /** |
shimniok | 0:a6a169de725f | 129 | * @brief Get field nav_mode from sys_status message |
shimniok | 0:a6a169de725f | 130 | * |
shimniok | 0:a6a169de725f | 131 | * @return Navigation mode, see MAV_NAV_MODE ENUM |
shimniok | 0:a6a169de725f | 132 | */ |
shimniok | 0:a6a169de725f | 133 | static inline uint8_t mavlink_msg_sys_status_get_nav_mode(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 134 | { |
shimniok | 0:a6a169de725f | 135 | return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 136 | } |
shimniok | 0:a6a169de725f | 137 | |
shimniok | 0:a6a169de725f | 138 | /** |
shimniok | 0:a6a169de725f | 139 | * @brief Get field status from sys_status message |
shimniok | 0:a6a169de725f | 140 | * |
shimniok | 0:a6a169de725f | 141 | * @return System status flag, see MAV_STATUS ENUM |
shimniok | 0:a6a169de725f | 142 | */ |
shimniok | 0:a6a169de725f | 143 | static inline uint8_t mavlink_msg_sys_status_get_status(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 144 | { |
shimniok | 0:a6a169de725f | 145 | return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 146 | } |
shimniok | 0:a6a169de725f | 147 | |
shimniok | 0:a6a169de725f | 148 | /** |
shimniok | 0:a6a169de725f | 149 | * @brief Get field load from sys_status message |
shimniok | 0:a6a169de725f | 150 | * |
shimniok | 0:a6a169de725f | 151 | * @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 |
shimniok | 0:a6a169de725f | 152 | */ |
shimniok | 0:a6a169de725f | 153 | static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 154 | { |
shimniok | 0:a6a169de725f | 155 | generic_16bit r; |
shimniok | 0:a6a169de725f | 156 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 157 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; |
shimniok | 0:a6a169de725f | 158 | return (uint16_t)r.s; |
shimniok | 0:a6a169de725f | 159 | } |
shimniok | 0:a6a169de725f | 160 | |
shimniok | 0:a6a169de725f | 161 | /** |
shimniok | 0:a6a169de725f | 162 | * @brief Get field vbat from sys_status message |
shimniok | 0:a6a169de725f | 163 | * |
shimniok | 0:a6a169de725f | 164 | * @return Battery voltage, in millivolts (1 = 1 millivolt) |
shimniok | 0:a6a169de725f | 165 | */ |
shimniok | 0:a6a169de725f | 166 | static inline uint16_t mavlink_msg_sys_status_get_vbat(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 167 | { |
shimniok | 0:a6a169de725f | 168 | generic_16bit r; |
shimniok | 0:a6a169de725f | 169 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0]; |
shimniok | 0:a6a169de725f | 170 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1]; |
shimniok | 0:a6a169de725f | 171 | return (uint16_t)r.s; |
shimniok | 0:a6a169de725f | 172 | } |
shimniok | 0:a6a169de725f | 173 | |
shimniok | 0:a6a169de725f | 174 | /** |
shimniok | 0:a6a169de725f | 175 | * @brief Get field battery_remaining from sys_status message |
shimniok | 0:a6a169de725f | 176 | * |
shimniok | 0:a6a169de725f | 177 | * @return Remaining battery energy: (0%: 0, 100%: 1000) |
shimniok | 0:a6a169de725f | 178 | */ |
shimniok | 0:a6a169de725f | 179 | static inline uint16_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 180 | { |
shimniok | 0:a6a169de725f | 181 | generic_16bit r; |
shimniok | 0:a6a169de725f | 182 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; |
shimniok | 0:a6a169de725f | 183 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; |
shimniok | 0:a6a169de725f | 184 | return (uint16_t)r.s; |
shimniok | 0:a6a169de725f | 185 | } |
shimniok | 0:a6a169de725f | 186 | |
shimniok | 0:a6a169de725f | 187 | /** |
shimniok | 0:a6a169de725f | 188 | * @brief Get field packet_drop from sys_status message |
shimniok | 0:a6a169de725f | 189 | * |
shimniok | 0:a6a169de725f | 190 | * @return Dropped packets (packets that were corrupted on reception on the MAV) |
shimniok | 0:a6a169de725f | 191 | */ |
shimniok | 0:a6a169de725f | 192 | static inline uint16_t mavlink_msg_sys_status_get_packet_drop(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 193 | { |
shimniok | 0:a6a169de725f | 194 | generic_16bit r; |
shimniok | 0:a6a169de725f | 195 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; |
shimniok | 0:a6a169de725f | 196 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; |
shimniok | 0:a6a169de725f | 197 | return (uint16_t)r.s; |
shimniok | 0:a6a169de725f | 198 | } |
shimniok | 0:a6a169de725f | 199 | |
shimniok | 0:a6a169de725f | 200 | /** |
shimniok | 0:a6a169de725f | 201 | * @brief Decode a sys_status message into a struct |
shimniok | 0:a6a169de725f | 202 | * |
shimniok | 0:a6a169de725f | 203 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 204 | * @param sys_status C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 205 | */ |
shimniok | 0:a6a169de725f | 206 | static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status) |
shimniok | 0:a6a169de725f | 207 | { |
shimniok | 0:a6a169de725f | 208 | sys_status->mode = mavlink_msg_sys_status_get_mode(msg); |
shimniok | 0:a6a169de725f | 209 | sys_status->nav_mode = mavlink_msg_sys_status_get_nav_mode(msg); |
shimniok | 0:a6a169de725f | 210 | sys_status->status = mavlink_msg_sys_status_get_status(msg); |
shimniok | 0:a6a169de725f | 211 | sys_status->load = mavlink_msg_sys_status_get_load(msg); |
shimniok | 0:a6a169de725f | 212 | sys_status->vbat = mavlink_msg_sys_status_get_vbat(msg); |
shimniok | 0:a6a169de725f | 213 | sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg); |
shimniok | 0:a6a169de725f | 214 | sys_status->packet_drop = mavlink_msg_sys_status_get_packet_drop(msg); |
shimniok | 0:a6a169de725f | 215 | } |