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_waypoint.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 WAYPOINT PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_WAYPOINT 39 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_waypoint_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | uint8_t target_system; ///< System ID |
shimniok | 0:a6a169de725f | 8 | uint8_t target_component; ///< Component ID |
shimniok | 0:a6a169de725f | 9 | uint16_t seq; ///< Sequence |
shimniok | 0:a6a169de725f | 10 | uint8_t frame; ///< The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
shimniok | 0:a6a169de725f | 11 | uint8_t command; ///< The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
shimniok | 0:a6a169de725f | 12 | uint8_t current; ///< false:0, true:1 |
shimniok | 0:a6a169de725f | 13 | uint8_t autocontinue; ///< autocontinue to next wp |
shimniok | 0:a6a169de725f | 14 | float param1; ///< PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
shimniok | 0:a6a169de725f | 15 | float param2; ///< PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
shimniok | 0:a6a169de725f | 16 | float param3; ///< PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
shimniok | 0:a6a169de725f | 17 | float param4; ///< PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
shimniok | 0:a6a169de725f | 18 | float x; ///< PARAM5 / local: x position, global: latitude |
shimniok | 0:a6a169de725f | 19 | float y; ///< PARAM6 / y position: global: longitude |
shimniok | 0:a6a169de725f | 20 | float z; ///< PARAM7 / z position: global: altitude |
shimniok | 0:a6a169de725f | 21 | |
shimniok | 0:a6a169de725f | 22 | } mavlink_waypoint_t; |
shimniok | 0:a6a169de725f | 23 | |
shimniok | 0:a6a169de725f | 24 | |
shimniok | 0:a6a169de725f | 25 | |
shimniok | 0:a6a169de725f | 26 | /** |
shimniok | 0:a6a169de725f | 27 | * @brief Pack a waypoint message |
shimniok | 0:a6a169de725f | 28 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 29 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 30 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 31 | * |
shimniok | 0:a6a169de725f | 32 | * @param target_system System ID |
shimniok | 0:a6a169de725f | 33 | * @param target_component Component ID |
shimniok | 0:a6a169de725f | 34 | * @param seq Sequence |
shimniok | 0:a6a169de725f | 35 | * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
shimniok | 0:a6a169de725f | 36 | * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
shimniok | 0:a6a169de725f | 37 | * @param current false:0, true:1 |
shimniok | 0:a6a169de725f | 38 | * @param autocontinue autocontinue to next wp |
shimniok | 0:a6a169de725f | 39 | * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
shimniok | 0:a6a169de725f | 40 | * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
shimniok | 0:a6a169de725f | 41 | * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
shimniok | 0:a6a169de725f | 42 | * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
shimniok | 0:a6a169de725f | 43 | * @param x PARAM5 / local: x position, global: latitude |
shimniok | 0:a6a169de725f | 44 | * @param y PARAM6 / y position: global: longitude |
shimniok | 0:a6a169de725f | 45 | * @param z PARAM7 / z position: global: altitude |
shimniok | 0:a6a169de725f | 46 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 47 | */ |
shimniok | 0:a6a169de725f | 48 | static inline uint16_t mavlink_msg_waypoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z) |
shimniok | 0:a6a169de725f | 49 | { |
shimniok | 0:a6a169de725f | 50 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 51 | msg->msgid = MAVLINK_MSG_ID_WAYPOINT; |
shimniok | 0:a6a169de725f | 52 | |
shimniok | 0:a6a169de725f | 53 | i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID |
shimniok | 0:a6a169de725f | 54 | i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID |
shimniok | 0:a6a169de725f | 55 | i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence |
shimniok | 0:a6a169de725f | 56 | i += put_uint8_t_by_index(frame, i, msg->payload); // The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
shimniok | 0:a6a169de725f | 57 | i += put_uint8_t_by_index(command, i, msg->payload); // The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
shimniok | 0:a6a169de725f | 58 | i += put_uint8_t_by_index(current, i, msg->payload); // false:0, true:1 |
shimniok | 0:a6a169de725f | 59 | i += put_uint8_t_by_index(autocontinue, i, msg->payload); // autocontinue to next wp |
shimniok | 0:a6a169de725f | 60 | i += put_float_by_index(param1, i, msg->payload); // PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
shimniok | 0:a6a169de725f | 61 | i += put_float_by_index(param2, i, msg->payload); // PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
shimniok | 0:a6a169de725f | 62 | i += put_float_by_index(param3, i, msg->payload); // PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
shimniok | 0:a6a169de725f | 63 | i += put_float_by_index(param4, i, msg->payload); // PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
shimniok | 0:a6a169de725f | 64 | i += put_float_by_index(x, i, msg->payload); // PARAM5 / local: x position, global: latitude |
shimniok | 0:a6a169de725f | 65 | i += put_float_by_index(y, i, msg->payload); // PARAM6 / y position: global: longitude |
shimniok | 0:a6a169de725f | 66 | i += put_float_by_index(z, i, msg->payload); // PARAM7 / z position: global: altitude |
shimniok | 0:a6a169de725f | 67 | |
shimniok | 0:a6a169de725f | 68 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 69 | } |
shimniok | 0:a6a169de725f | 70 | |
shimniok | 0:a6a169de725f | 71 | /** |
shimniok | 0:a6a169de725f | 72 | * @brief Pack a waypoint message |
shimniok | 0:a6a169de725f | 73 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 74 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 75 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 76 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 77 | * @param target_system System ID |
shimniok | 0:a6a169de725f | 78 | * @param target_component Component ID |
shimniok | 0:a6a169de725f | 79 | * @param seq Sequence |
shimniok | 0:a6a169de725f | 80 | * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
shimniok | 0:a6a169de725f | 81 | * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
shimniok | 0:a6a169de725f | 82 | * @param current false:0, true:1 |
shimniok | 0:a6a169de725f | 83 | * @param autocontinue autocontinue to next wp |
shimniok | 0:a6a169de725f | 84 | * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
shimniok | 0:a6a169de725f | 85 | * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
shimniok | 0:a6a169de725f | 86 | * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
shimniok | 0:a6a169de725f | 87 | * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
shimniok | 0:a6a169de725f | 88 | * @param x PARAM5 / local: x position, global: latitude |
shimniok | 0:a6a169de725f | 89 | * @param y PARAM6 / y position: global: longitude |
shimniok | 0:a6a169de725f | 90 | * @param z PARAM7 / z position: global: altitude |
shimniok | 0:a6a169de725f | 91 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 92 | */ |
shimniok | 0:a6a169de725f | 93 | static inline uint16_t mavlink_msg_waypoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z) |
shimniok | 0:a6a169de725f | 94 | { |
shimniok | 0:a6a169de725f | 95 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 96 | msg->msgid = MAVLINK_MSG_ID_WAYPOINT; |
shimniok | 0:a6a169de725f | 97 | |
shimniok | 0:a6a169de725f | 98 | i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID |
shimniok | 0:a6a169de725f | 99 | i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID |
shimniok | 0:a6a169de725f | 100 | i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence |
shimniok | 0:a6a169de725f | 101 | i += put_uint8_t_by_index(frame, i, msg->payload); // The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
shimniok | 0:a6a169de725f | 102 | i += put_uint8_t_by_index(command, i, msg->payload); // The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
shimniok | 0:a6a169de725f | 103 | i += put_uint8_t_by_index(current, i, msg->payload); // false:0, true:1 |
shimniok | 0:a6a169de725f | 104 | i += put_uint8_t_by_index(autocontinue, i, msg->payload); // autocontinue to next wp |
shimniok | 0:a6a169de725f | 105 | i += put_float_by_index(param1, i, msg->payload); // PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
shimniok | 0:a6a169de725f | 106 | i += put_float_by_index(param2, i, msg->payload); // PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
shimniok | 0:a6a169de725f | 107 | i += put_float_by_index(param3, i, msg->payload); // PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
shimniok | 0:a6a169de725f | 108 | i += put_float_by_index(param4, i, msg->payload); // PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
shimniok | 0:a6a169de725f | 109 | i += put_float_by_index(x, i, msg->payload); // PARAM5 / local: x position, global: latitude |
shimniok | 0:a6a169de725f | 110 | i += put_float_by_index(y, i, msg->payload); // PARAM6 / y position: global: longitude |
shimniok | 0:a6a169de725f | 111 | i += put_float_by_index(z, i, msg->payload); // PARAM7 / z position: global: altitude |
shimniok | 0:a6a169de725f | 112 | |
shimniok | 0:a6a169de725f | 113 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:a6a169de725f | 114 | } |
shimniok | 0:a6a169de725f | 115 | |
shimniok | 0:a6a169de725f | 116 | /** |
shimniok | 0:a6a169de725f | 117 | * @brief Encode a waypoint struct into a message |
shimniok | 0:a6a169de725f | 118 | * |
shimniok | 0:a6a169de725f | 119 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 120 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 121 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 122 | * @param waypoint C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 123 | */ |
shimniok | 0:a6a169de725f | 124 | static inline uint16_t mavlink_msg_waypoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_t* waypoint) |
shimniok | 0:a6a169de725f | 125 | { |
shimniok | 0:a6a169de725f | 126 | return mavlink_msg_waypoint_pack(system_id, component_id, msg, waypoint->target_system, waypoint->target_component, waypoint->seq, waypoint->frame, waypoint->command, waypoint->current, waypoint->autocontinue, waypoint->param1, waypoint->param2, waypoint->param3, waypoint->param4, waypoint->x, waypoint->y, waypoint->z); |
shimniok | 0:a6a169de725f | 127 | } |
shimniok | 0:a6a169de725f | 128 | |
shimniok | 0:a6a169de725f | 129 | /** |
shimniok | 0:a6a169de725f | 130 | * @brief Send a waypoint message |
shimniok | 0:a6a169de725f | 131 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 132 | * |
shimniok | 0:a6a169de725f | 133 | * @param target_system System ID |
shimniok | 0:a6a169de725f | 134 | * @param target_component Component ID |
shimniok | 0:a6a169de725f | 135 | * @param seq Sequence |
shimniok | 0:a6a169de725f | 136 | * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
shimniok | 0:a6a169de725f | 137 | * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
shimniok | 0:a6a169de725f | 138 | * @param current false:0, true:1 |
shimniok | 0:a6a169de725f | 139 | * @param autocontinue autocontinue to next wp |
shimniok | 0:a6a169de725f | 140 | * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
shimniok | 0:a6a169de725f | 141 | * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
shimniok | 0:a6a169de725f | 142 | * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
shimniok | 0:a6a169de725f | 143 | * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
shimniok | 0:a6a169de725f | 144 | * @param x PARAM5 / local: x position, global: latitude |
shimniok | 0:a6a169de725f | 145 | * @param y PARAM6 / y position: global: longitude |
shimniok | 0:a6a169de725f | 146 | * @param z PARAM7 / z position: global: altitude |
shimniok | 0:a6a169de725f | 147 | */ |
shimniok | 0:a6a169de725f | 148 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 149 | |
shimniok | 0:a6a169de725f | 150 | static inline void mavlink_msg_waypoint_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z) |
shimniok | 0:a6a169de725f | 151 | { |
shimniok | 0:a6a169de725f | 152 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 153 | mavlink_msg_waypoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z); |
shimniok | 0:a6a169de725f | 154 | mavlink_send_uart(chan, &msg); |
shimniok | 0:a6a169de725f | 155 | } |
shimniok | 0:a6a169de725f | 156 | |
shimniok | 0:a6a169de725f | 157 | #endif |
shimniok | 0:a6a169de725f | 158 | // MESSAGE WAYPOINT UNPACKING |
shimniok | 0:a6a169de725f | 159 | |
shimniok | 0:a6a169de725f | 160 | /** |
shimniok | 0:a6a169de725f | 161 | * @brief Get field target_system from waypoint message |
shimniok | 0:a6a169de725f | 162 | * |
shimniok | 0:a6a169de725f | 163 | * @return System ID |
shimniok | 0:a6a169de725f | 164 | */ |
shimniok | 0:a6a169de725f | 165 | static inline uint8_t mavlink_msg_waypoint_get_target_system(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 166 | { |
shimniok | 0:a6a169de725f | 167 | return (uint8_t)(msg->payload)[0]; |
shimniok | 0:a6a169de725f | 168 | } |
shimniok | 0:a6a169de725f | 169 | |
shimniok | 0:a6a169de725f | 170 | /** |
shimniok | 0:a6a169de725f | 171 | * @brief Get field target_component from waypoint message |
shimniok | 0:a6a169de725f | 172 | * |
shimniok | 0:a6a169de725f | 173 | * @return Component ID |
shimniok | 0:a6a169de725f | 174 | */ |
shimniok | 0:a6a169de725f | 175 | static inline uint8_t mavlink_msg_waypoint_get_target_component(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 176 | { |
shimniok | 0:a6a169de725f | 177 | return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 178 | } |
shimniok | 0:a6a169de725f | 179 | |
shimniok | 0:a6a169de725f | 180 | /** |
shimniok | 0:a6a169de725f | 181 | * @brief Get field seq from waypoint message |
shimniok | 0:a6a169de725f | 182 | * |
shimniok | 0:a6a169de725f | 183 | * @return Sequence |
shimniok | 0:a6a169de725f | 184 | */ |
shimniok | 0:a6a169de725f | 185 | static inline uint16_t mavlink_msg_waypoint_get_seq(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 186 | { |
shimniok | 0:a6a169de725f | 187 | generic_16bit r; |
shimniok | 0:a6a169de725f | 188 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 189 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; |
shimniok | 0:a6a169de725f | 190 | return (uint16_t)r.s; |
shimniok | 0:a6a169de725f | 191 | } |
shimniok | 0:a6a169de725f | 192 | |
shimniok | 0:a6a169de725f | 193 | /** |
shimniok | 0:a6a169de725f | 194 | * @brief Get field frame from waypoint message |
shimniok | 0:a6a169de725f | 195 | * |
shimniok | 0:a6a169de725f | 196 | * @return The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
shimniok | 0:a6a169de725f | 197 | */ |
shimniok | 0:a6a169de725f | 198 | static inline uint8_t mavlink_msg_waypoint_get_frame(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 199 | { |
shimniok | 0:a6a169de725f | 200 | return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0]; |
shimniok | 0:a6a169de725f | 201 | } |
shimniok | 0:a6a169de725f | 202 | |
shimniok | 0:a6a169de725f | 203 | /** |
shimniok | 0:a6a169de725f | 204 | * @brief Get field command from waypoint message |
shimniok | 0:a6a169de725f | 205 | * |
shimniok | 0:a6a169de725f | 206 | * @return The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
shimniok | 0:a6a169de725f | 207 | */ |
shimniok | 0:a6a169de725f | 208 | static inline uint8_t mavlink_msg_waypoint_get_command(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 209 | { |
shimniok | 0:a6a169de725f | 210 | return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 211 | } |
shimniok | 0:a6a169de725f | 212 | |
shimniok | 0:a6a169de725f | 213 | /** |
shimniok | 0:a6a169de725f | 214 | * @brief Get field current from waypoint message |
shimniok | 0:a6a169de725f | 215 | * |
shimniok | 0:a6a169de725f | 216 | * @return false:0, true:1 |
shimniok | 0:a6a169de725f | 217 | */ |
shimniok | 0:a6a169de725f | 218 | static inline uint8_t mavlink_msg_waypoint_get_current(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 219 | { |
shimniok | 0:a6a169de725f | 220 | return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 221 | } |
shimniok | 0:a6a169de725f | 222 | |
shimniok | 0:a6a169de725f | 223 | /** |
shimniok | 0:a6a169de725f | 224 | * @brief Get field autocontinue from waypoint message |
shimniok | 0:a6a169de725f | 225 | * |
shimniok | 0:a6a169de725f | 226 | * @return autocontinue to next wp |
shimniok | 0:a6a169de725f | 227 | */ |
shimniok | 0:a6a169de725f | 228 | static inline uint8_t mavlink_msg_waypoint_get_autocontinue(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 229 | { |
shimniok | 0:a6a169de725f | 230 | return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 231 | } |
shimniok | 0:a6a169de725f | 232 | |
shimniok | 0:a6a169de725f | 233 | /** |
shimniok | 0:a6a169de725f | 234 | * @brief Get field param1 from waypoint message |
shimniok | 0:a6a169de725f | 235 | * |
shimniok | 0:a6a169de725f | 236 | * @return PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
shimniok | 0:a6a169de725f | 237 | */ |
shimniok | 0:a6a169de725f | 238 | static inline float mavlink_msg_waypoint_get_param1(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 239 | { |
shimniok | 0:a6a169de725f | 240 | generic_32bit r; |
shimniok | 0:a6a169de725f | 241 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 242 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; |
shimniok | 0:a6a169de725f | 243 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[2]; |
shimniok | 0:a6a169de725f | 244 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[3]; |
shimniok | 0:a6a169de725f | 245 | return (float)r.f; |
shimniok | 0:a6a169de725f | 246 | } |
shimniok | 0:a6a169de725f | 247 | |
shimniok | 0:a6a169de725f | 248 | /** |
shimniok | 0:a6a169de725f | 249 | * @brief Get field param2 from waypoint message |
shimniok | 0:a6a169de725f | 250 | * |
shimniok | 0:a6a169de725f | 251 | * @return PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
shimniok | 0:a6a169de725f | 252 | */ |
shimniok | 0:a6a169de725f | 253 | static inline float mavlink_msg_waypoint_get_param2(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 254 | { |
shimniok | 0:a6a169de725f | 255 | generic_32bit r; |
shimniok | 0:a6a169de725f | 256 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 257 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 258 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 259 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 260 | return (float)r.f; |
shimniok | 0:a6a169de725f | 261 | } |
shimniok | 0:a6a169de725f | 262 | |
shimniok | 0:a6a169de725f | 263 | /** |
shimniok | 0:a6a169de725f | 264 | * @brief Get field param3 from waypoint message |
shimniok | 0:a6a169de725f | 265 | * |
shimniok | 0:a6a169de725f | 266 | * @return PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
shimniok | 0:a6a169de725f | 267 | */ |
shimniok | 0:a6a169de725f | 268 | static inline float mavlink_msg_waypoint_get_param3(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 269 | { |
shimniok | 0:a6a169de725f | 270 | generic_32bit r; |
shimniok | 0:a6a169de725f | 271 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 272 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 273 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 274 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 275 | return (float)r.f; |
shimniok | 0:a6a169de725f | 276 | } |
shimniok | 0:a6a169de725f | 277 | |
shimniok | 0:a6a169de725f | 278 | /** |
shimniok | 0:a6a169de725f | 279 | * @brief Get field param4 from waypoint message |
shimniok | 0:a6a169de725f | 280 | * |
shimniok | 0:a6a169de725f | 281 | * @return PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
shimniok | 0:a6a169de725f | 282 | */ |
shimniok | 0:a6a169de725f | 283 | static inline float mavlink_msg_waypoint_get_param4(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 284 | { |
shimniok | 0:a6a169de725f | 285 | generic_32bit r; |
shimniok | 0:a6a169de725f | 286 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 287 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 288 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 289 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 290 | return (float)r.f; |
shimniok | 0:a6a169de725f | 291 | } |
shimniok | 0:a6a169de725f | 292 | |
shimniok | 0:a6a169de725f | 293 | /** |
shimniok | 0:a6a169de725f | 294 | * @brief Get field x from waypoint message |
shimniok | 0:a6a169de725f | 295 | * |
shimniok | 0:a6a169de725f | 296 | * @return PARAM5 / local: x position, global: latitude |
shimniok | 0:a6a169de725f | 297 | */ |
shimniok | 0:a6a169de725f | 298 | static inline float mavlink_msg_waypoint_get_x(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 299 | { |
shimniok | 0:a6a169de725f | 300 | generic_32bit r; |
shimniok | 0:a6a169de725f | 301 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 302 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 303 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 304 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 305 | return (float)r.f; |
shimniok | 0:a6a169de725f | 306 | } |
shimniok | 0:a6a169de725f | 307 | |
shimniok | 0:a6a169de725f | 308 | /** |
shimniok | 0:a6a169de725f | 309 | * @brief Get field y from waypoint message |
shimniok | 0:a6a169de725f | 310 | * |
shimniok | 0:a6a169de725f | 311 | * @return PARAM6 / y position: global: longitude |
shimniok | 0:a6a169de725f | 312 | */ |
shimniok | 0:a6a169de725f | 313 | static inline float mavlink_msg_waypoint_get_y(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 314 | { |
shimniok | 0:a6a169de725f | 315 | generic_32bit r; |
shimniok | 0:a6a169de725f | 316 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 317 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 318 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 319 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 320 | return (float)r.f; |
shimniok | 0:a6a169de725f | 321 | } |
shimniok | 0:a6a169de725f | 322 | |
shimniok | 0:a6a169de725f | 323 | /** |
shimniok | 0:a6a169de725f | 324 | * @brief Get field z from waypoint message |
shimniok | 0:a6a169de725f | 325 | * |
shimniok | 0:a6a169de725f | 326 | * @return PARAM7 / z position: global: altitude |
shimniok | 0:a6a169de725f | 327 | */ |
shimniok | 0:a6a169de725f | 328 | static inline float mavlink_msg_waypoint_get_z(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 329 | { |
shimniok | 0:a6a169de725f | 330 | generic_32bit r; |
shimniok | 0:a6a169de725f | 331 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 332 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 333 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 334 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 335 | return (float)r.f; |
shimniok | 0:a6a169de725f | 336 | } |
shimniok | 0:a6a169de725f | 337 | |
shimniok | 0:a6a169de725f | 338 | /** |
shimniok | 0:a6a169de725f | 339 | * @brief Decode a waypoint message into a struct |
shimniok | 0:a6a169de725f | 340 | * |
shimniok | 0:a6a169de725f | 341 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 342 | * @param waypoint C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 343 | */ |
shimniok | 0:a6a169de725f | 344 | static inline void mavlink_msg_waypoint_decode(const mavlink_message_t* msg, mavlink_waypoint_t* waypoint) |
shimniok | 0:a6a169de725f | 345 | { |
shimniok | 0:a6a169de725f | 346 | waypoint->target_system = mavlink_msg_waypoint_get_target_system(msg); |
shimniok | 0:a6a169de725f | 347 | waypoint->target_component = mavlink_msg_waypoint_get_target_component(msg); |
shimniok | 0:a6a169de725f | 348 | waypoint->seq = mavlink_msg_waypoint_get_seq(msg); |
shimniok | 0:a6a169de725f | 349 | waypoint->frame = mavlink_msg_waypoint_get_frame(msg); |
shimniok | 0:a6a169de725f | 350 | waypoint->command = mavlink_msg_waypoint_get_command(msg); |
shimniok | 0:a6a169de725f | 351 | waypoint->current = mavlink_msg_waypoint_get_current(msg); |
shimniok | 0:a6a169de725f | 352 | waypoint->autocontinue = mavlink_msg_waypoint_get_autocontinue(msg); |
shimniok | 0:a6a169de725f | 353 | waypoint->param1 = mavlink_msg_waypoint_get_param1(msg); |
shimniok | 0:a6a169de725f | 354 | waypoint->param2 = mavlink_msg_waypoint_get_param2(msg); |
shimniok | 0:a6a169de725f | 355 | waypoint->param3 = mavlink_msg_waypoint_get_param3(msg); |
shimniok | 0:a6a169de725f | 356 | waypoint->param4 = mavlink_msg_waypoint_get_param4(msg); |
shimniok | 0:a6a169de725f | 357 | waypoint->x = mavlink_msg_waypoint_get_x(msg); |
shimniok | 0:a6a169de725f | 358 | waypoint->y = mavlink_msg_waypoint_get_y(msg); |
shimniok | 0:a6a169de725f | 359 | waypoint->z = mavlink_msg_waypoint_get_z(msg); |
shimniok | 0:a6a169de725f | 360 | } |