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_vfr_hud.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 VFR_HUD PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_VFR_HUD 74
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_vfr_hud_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 float airspeed; ///< Current airspeed in m/s
shimniok 0:a6a169de725f 8 float groundspeed; ///< Current ground speed in m/s
shimniok 0:a6a169de725f 9 int16_t heading; ///< Current heading in degrees, in compass units (0..360, 0=north)
shimniok 0:a6a169de725f 10 uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100
shimniok 0:a6a169de725f 11 float alt; ///< Current altitude (MSL), in meters
shimniok 0:a6a169de725f 12 float climb; ///< Current climb rate in meters/second
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14 } mavlink_vfr_hud_t;
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17
shimniok 0:a6a169de725f 18 /**
shimniok 0:a6a169de725f 19 * @brief Pack a vfr_hud message
shimniok 0:a6a169de725f 20 * @param system_id ID of this system
shimniok 0:a6a169de725f 21 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 22 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 23 *
shimniok 0:a6a169de725f 24 * @param airspeed Current airspeed in m/s
shimniok 0:a6a169de725f 25 * @param groundspeed Current ground speed in m/s
shimniok 0:a6a169de725f 26 * @param heading Current heading in degrees, in compass units (0..360, 0=north)
shimniok 0:a6a169de725f 27 * @param throttle Current throttle setting in integer percent, 0 to 100
shimniok 0:a6a169de725f 28 * @param alt Current altitude (MSL), in meters
shimniok 0:a6a169de725f 29 * @param climb Current climb rate in meters/second
shimniok 0:a6a169de725f 30 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 31 */
shimniok 0:a6a169de725f 32 static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
shimniok 0:a6a169de725f 33 {
shimniok 0:a6a169de725f 34 uint16_t i = 0;
shimniok 0:a6a169de725f 35 msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
shimniok 0:a6a169de725f 36
shimniok 0:a6a169de725f 37 i += put_float_by_index(airspeed, i, msg->payload); // Current airspeed in m/s
shimniok 0:a6a169de725f 38 i += put_float_by_index(groundspeed, i, msg->payload); // Current ground speed in m/s
shimniok 0:a6a169de725f 39 i += put_int16_t_by_index(heading, i, msg->payload); // Current heading in degrees, in compass units (0..360, 0=north)
shimniok 0:a6a169de725f 40 i += put_uint16_t_by_index(throttle, i, msg->payload); // Current throttle setting in integer percent, 0 to 100
shimniok 0:a6a169de725f 41 i += put_float_by_index(alt, i, msg->payload); // Current altitude (MSL), in meters
shimniok 0:a6a169de725f 42 i += put_float_by_index(climb, i, msg->payload); // Current climb rate in meters/second
shimniok 0:a6a169de725f 43
shimniok 0:a6a169de725f 44 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 45 }
shimniok 0:a6a169de725f 46
shimniok 0:a6a169de725f 47 /**
shimniok 0:a6a169de725f 48 * @brief Pack a vfr_hud message
shimniok 0:a6a169de725f 49 * @param system_id ID of this system
shimniok 0:a6a169de725f 50 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 51 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 52 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 53 * @param airspeed Current airspeed in m/s
shimniok 0:a6a169de725f 54 * @param groundspeed Current ground speed in m/s
shimniok 0:a6a169de725f 55 * @param heading Current heading in degrees, in compass units (0..360, 0=north)
shimniok 0:a6a169de725f 56 * @param throttle Current throttle setting in integer percent, 0 to 100
shimniok 0:a6a169de725f 57 * @param alt Current altitude (MSL), in meters
shimniok 0:a6a169de725f 58 * @param climb Current climb rate in meters/second
shimniok 0:a6a169de725f 59 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 60 */
shimniok 0:a6a169de725f 61 static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
shimniok 0:a6a169de725f 62 {
shimniok 0:a6a169de725f 63 uint16_t i = 0;
shimniok 0:a6a169de725f 64 msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
shimniok 0:a6a169de725f 65
shimniok 0:a6a169de725f 66 i += put_float_by_index(airspeed, i, msg->payload); // Current airspeed in m/s
shimniok 0:a6a169de725f 67 i += put_float_by_index(groundspeed, i, msg->payload); // Current ground speed in m/s
shimniok 0:a6a169de725f 68 i += put_int16_t_by_index(heading, i, msg->payload); // Current heading in degrees, in compass units (0..360, 0=north)
shimniok 0:a6a169de725f 69 i += put_uint16_t_by_index(throttle, i, msg->payload); // Current throttle setting in integer percent, 0 to 100
shimniok 0:a6a169de725f 70 i += put_float_by_index(alt, i, msg->payload); // Current altitude (MSL), in meters
shimniok 0:a6a169de725f 71 i += put_float_by_index(climb, i, msg->payload); // Current climb rate in meters/second
shimniok 0:a6a169de725f 72
shimniok 0:a6a169de725f 73 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 74 }
shimniok 0:a6a169de725f 75
shimniok 0:a6a169de725f 76 /**
shimniok 0:a6a169de725f 77 * @brief Encode a vfr_hud struct into a message
shimniok 0:a6a169de725f 78 *
shimniok 0:a6a169de725f 79 * @param system_id ID of this system
shimniok 0:a6a169de725f 80 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 81 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 82 * @param vfr_hud C-struct to read the message contents from
shimniok 0:a6a169de725f 83 */
shimniok 0:a6a169de725f 84 static inline uint16_t mavlink_msg_vfr_hud_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud)
shimniok 0:a6a169de725f 85 {
shimniok 0:a6a169de725f 86 return mavlink_msg_vfr_hud_pack(system_id, component_id, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb);
shimniok 0:a6a169de725f 87 }
shimniok 0:a6a169de725f 88
shimniok 0:a6a169de725f 89 /**
shimniok 0:a6a169de725f 90 * @brief Send a vfr_hud message
shimniok 0:a6a169de725f 91 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 92 *
shimniok 0:a6a169de725f 93 * @param airspeed Current airspeed in m/s
shimniok 0:a6a169de725f 94 * @param groundspeed Current ground speed in m/s
shimniok 0:a6a169de725f 95 * @param heading Current heading in degrees, in compass units (0..360, 0=north)
shimniok 0:a6a169de725f 96 * @param throttle Current throttle setting in integer percent, 0 to 100
shimniok 0:a6a169de725f 97 * @param alt Current altitude (MSL), in meters
shimniok 0:a6a169de725f 98 * @param climb Current climb rate in meters/second
shimniok 0:a6a169de725f 99 */
shimniok 0:a6a169de725f 100 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 101
shimniok 0:a6a169de725f 102 static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
shimniok 0:a6a169de725f 103 {
shimniok 0:a6a169de725f 104 mavlink_message_t msg;
shimniok 0:a6a169de725f 105 mavlink_msg_vfr_hud_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, airspeed, groundspeed, heading, throttle, alt, climb);
shimniok 0:a6a169de725f 106 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 107 }
shimniok 0:a6a169de725f 108
shimniok 0:a6a169de725f 109 #endif
shimniok 0:a6a169de725f 110 // MESSAGE VFR_HUD UNPACKING
shimniok 0:a6a169de725f 111
shimniok 0:a6a169de725f 112 /**
shimniok 0:a6a169de725f 113 * @brief Get field airspeed from vfr_hud message
shimniok 0:a6a169de725f 114 *
shimniok 0:a6a169de725f 115 * @return Current airspeed in m/s
shimniok 0:a6a169de725f 116 */
shimniok 0:a6a169de725f 117 static inline float mavlink_msg_vfr_hud_get_airspeed(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 118 {
shimniok 0:a6a169de725f 119 generic_32bit r;
shimniok 0:a6a169de725f 120 r.b[3] = (msg->payload)[0];
shimniok 0:a6a169de725f 121 r.b[2] = (msg->payload)[1];
shimniok 0:a6a169de725f 122 r.b[1] = (msg->payload)[2];
shimniok 0:a6a169de725f 123 r.b[0] = (msg->payload)[3];
shimniok 0:a6a169de725f 124 return (float)r.f;
shimniok 0:a6a169de725f 125 }
shimniok 0:a6a169de725f 126
shimniok 0:a6a169de725f 127 /**
shimniok 0:a6a169de725f 128 * @brief Get field groundspeed from vfr_hud message
shimniok 0:a6a169de725f 129 *
shimniok 0:a6a169de725f 130 * @return Current ground speed in m/s
shimniok 0:a6a169de725f 131 */
shimniok 0:a6a169de725f 132 static inline float mavlink_msg_vfr_hud_get_groundspeed(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 133 {
shimniok 0:a6a169de725f 134 generic_32bit r;
shimniok 0:a6a169de725f 135 r.b[3] = (msg->payload+sizeof(float))[0];
shimniok 0:a6a169de725f 136 r.b[2] = (msg->payload+sizeof(float))[1];
shimniok 0:a6a169de725f 137 r.b[1] = (msg->payload+sizeof(float))[2];
shimniok 0:a6a169de725f 138 r.b[0] = (msg->payload+sizeof(float))[3];
shimniok 0:a6a169de725f 139 return (float)r.f;
shimniok 0:a6a169de725f 140 }
shimniok 0:a6a169de725f 141
shimniok 0:a6a169de725f 142 /**
shimniok 0:a6a169de725f 143 * @brief Get field heading from vfr_hud message
shimniok 0:a6a169de725f 144 *
shimniok 0:a6a169de725f 145 * @return Current heading in degrees, in compass units (0..360, 0=north)
shimniok 0:a6a169de725f 146 */
shimniok 0:a6a169de725f 147 static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 148 {
shimniok 0:a6a169de725f 149 generic_16bit r;
shimniok 0:a6a169de725f 150 r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 151 r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 152 return (int16_t)r.s;
shimniok 0:a6a169de725f 153 }
shimniok 0:a6a169de725f 154
shimniok 0:a6a169de725f 155 /**
shimniok 0:a6a169de725f 156 * @brief Get field throttle from vfr_hud message
shimniok 0:a6a169de725f 157 *
shimniok 0:a6a169de725f 158 * @return Current throttle setting in integer percent, 0 to 100
shimniok 0:a6a169de725f 159 */
shimniok 0:a6a169de725f 160 static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 161 {
shimniok 0:a6a169de725f 162 generic_16bit r;
shimniok 0:a6a169de725f 163 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[0];
shimniok 0:a6a169de725f 164 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[1];
shimniok 0:a6a169de725f 165 return (uint16_t)r.s;
shimniok 0:a6a169de725f 166 }
shimniok 0:a6a169de725f 167
shimniok 0:a6a169de725f 168 /**
shimniok 0:a6a169de725f 169 * @brief Get field alt from vfr_hud message
shimniok 0:a6a169de725f 170 *
shimniok 0:a6a169de725f 171 * @return Current altitude (MSL), in meters
shimniok 0:a6a169de725f 172 */
shimniok 0:a6a169de725f 173 static inline float mavlink_msg_vfr_hud_get_alt(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 174 {
shimniok 0:a6a169de725f 175 generic_32bit r;
shimniok 0:a6a169de725f 176 r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 177 r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 178 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[2];
shimniok 0:a6a169de725f 179 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[3];
shimniok 0:a6a169de725f 180 return (float)r.f;
shimniok 0:a6a169de725f 181 }
shimniok 0:a6a169de725f 182
shimniok 0:a6a169de725f 183 /**
shimniok 0:a6a169de725f 184 * @brief Get field climb from vfr_hud message
shimniok 0:a6a169de725f 185 *
shimniok 0:a6a169de725f 186 * @return Current climb rate in meters/second
shimniok 0:a6a169de725f 187 */
shimniok 0:a6a169de725f 188 static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 189 {
shimniok 0:a6a169de725f 190 generic_32bit r;
shimniok 0:a6a169de725f 191 r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[0];
shimniok 0:a6a169de725f 192 r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[1];
shimniok 0:a6a169de725f 193 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[2];
shimniok 0:a6a169de725f 194 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[3];
shimniok 0:a6a169de725f 195 return (float)r.f;
shimniok 0:a6a169de725f 196 }
shimniok 0:a6a169de725f 197
shimniok 0:a6a169de725f 198 /**
shimniok 0:a6a169de725f 199 * @brief Decode a vfr_hud message into a struct
shimniok 0:a6a169de725f 200 *
shimniok 0:a6a169de725f 201 * @param msg The message to decode
shimniok 0:a6a169de725f 202 * @param vfr_hud C-struct to decode the message contents into
shimniok 0:a6a169de725f 203 */
shimniok 0:a6a169de725f 204 static inline void mavlink_msg_vfr_hud_decode(const mavlink_message_t* msg, mavlink_vfr_hud_t* vfr_hud)
shimniok 0:a6a169de725f 205 {
shimniok 0:a6a169de725f 206 vfr_hud->airspeed = mavlink_msg_vfr_hud_get_airspeed(msg);
shimniok 0:a6a169de725f 207 vfr_hud->groundspeed = mavlink_msg_vfr_hud_get_groundspeed(msg);
shimniok 0:a6a169de725f 208 vfr_hud->heading = mavlink_msg_vfr_hud_get_heading(msg);
shimniok 0:a6a169de725f 209 vfr_hud->throttle = mavlink_msg_vfr_hud_get_throttle(msg);
shimniok 0:a6a169de725f 210 vfr_hud->alt = mavlink_msg_vfr_hud_get_alt(msg);
shimniok 0:a6a169de725f 211 vfr_hud->climb = mavlink_msg_vfr_hud_get_climb(msg);
shimniok 0:a6a169de725f 212 }