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/pixhawk/mavlink_msg_attitude_control.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 ATTITUDE_CONTROL PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_ATTITUDE_CONTROL 85
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_attitude_control_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint8_t target; ///< The system to be controlled
shimniok 0:a6a169de725f 8 float roll; ///< roll
shimniok 0:a6a169de725f 9 float pitch; ///< pitch
shimniok 0:a6a169de725f 10 float yaw; ///< yaw
shimniok 0:a6a169de725f 11 float thrust; ///< thrust
shimniok 0:a6a169de725f 12 uint8_t roll_manual; ///< roll control enabled auto:0, manual:1
shimniok 0:a6a169de725f 13 uint8_t pitch_manual; ///< pitch auto:0, manual:1
shimniok 0:a6a169de725f 14 uint8_t yaw_manual; ///< yaw auto:0, manual:1
shimniok 0:a6a169de725f 15 uint8_t thrust_manual; ///< thrust auto:0, manual:1
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17 } mavlink_attitude_control_t;
shimniok 0:a6a169de725f 18
shimniok 0:a6a169de725f 19
shimniok 0:a6a169de725f 20
shimniok 0:a6a169de725f 21 /**
shimniok 0:a6a169de725f 22 * @brief Pack a attitude_control message
shimniok 0:a6a169de725f 23 * @param system_id ID of this system
shimniok 0:a6a169de725f 24 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 25 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 26 *
shimniok 0:a6a169de725f 27 * @param target The system to be controlled
shimniok 0:a6a169de725f 28 * @param roll roll
shimniok 0:a6a169de725f 29 * @param pitch pitch
shimniok 0:a6a169de725f 30 * @param yaw yaw
shimniok 0:a6a169de725f 31 * @param thrust thrust
shimniok 0:a6a169de725f 32 * @param roll_manual roll control enabled auto:0, manual:1
shimniok 0:a6a169de725f 33 * @param pitch_manual pitch auto:0, manual:1
shimniok 0:a6a169de725f 34 * @param yaw_manual yaw auto:0, manual:1
shimniok 0:a6a169de725f 35 * @param thrust_manual thrust auto:0, manual:1
shimniok 0:a6a169de725f 36 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 37 */
shimniok 0:a6a169de725f 38 static inline uint16_t mavlink_msg_attitude_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
shimniok 0:a6a169de725f 39 {
shimniok 0:a6a169de725f 40 uint16_t i = 0;
shimniok 0:a6a169de725f 41 msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL;
shimniok 0:a6a169de725f 42
shimniok 0:a6a169de725f 43 i += put_uint8_t_by_index(target, i, msg->payload); // The system to be controlled
shimniok 0:a6a169de725f 44 i += put_float_by_index(roll, i, msg->payload); // roll
shimniok 0:a6a169de725f 45 i += put_float_by_index(pitch, i, msg->payload); // pitch
shimniok 0:a6a169de725f 46 i += put_float_by_index(yaw, i, msg->payload); // yaw
shimniok 0:a6a169de725f 47 i += put_float_by_index(thrust, i, msg->payload); // thrust
shimniok 0:a6a169de725f 48 i += put_uint8_t_by_index(roll_manual, i, msg->payload); // roll control enabled auto:0, manual:1
shimniok 0:a6a169de725f 49 i += put_uint8_t_by_index(pitch_manual, i, msg->payload); // pitch auto:0, manual:1
shimniok 0:a6a169de725f 50 i += put_uint8_t_by_index(yaw_manual, i, msg->payload); // yaw auto:0, manual:1
shimniok 0:a6a169de725f 51 i += put_uint8_t_by_index(thrust_manual, i, msg->payload); // thrust auto:0, manual:1
shimniok 0:a6a169de725f 52
shimniok 0:a6a169de725f 53 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 54 }
shimniok 0:a6a169de725f 55
shimniok 0:a6a169de725f 56 /**
shimniok 0:a6a169de725f 57 * @brief Pack a attitude_control message
shimniok 0:a6a169de725f 58 * @param system_id ID of this system
shimniok 0:a6a169de725f 59 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 60 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 61 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 62 * @param target The system to be controlled
shimniok 0:a6a169de725f 63 * @param roll roll
shimniok 0:a6a169de725f 64 * @param pitch pitch
shimniok 0:a6a169de725f 65 * @param yaw yaw
shimniok 0:a6a169de725f 66 * @param thrust thrust
shimniok 0:a6a169de725f 67 * @param roll_manual roll control enabled auto:0, manual:1
shimniok 0:a6a169de725f 68 * @param pitch_manual pitch auto:0, manual:1
shimniok 0:a6a169de725f 69 * @param yaw_manual yaw auto:0, manual:1
shimniok 0:a6a169de725f 70 * @param thrust_manual thrust auto:0, manual:1
shimniok 0:a6a169de725f 71 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 72 */
shimniok 0:a6a169de725f 73 static inline uint16_t mavlink_msg_attitude_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
shimniok 0:a6a169de725f 74 {
shimniok 0:a6a169de725f 75 uint16_t i = 0;
shimniok 0:a6a169de725f 76 msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL;
shimniok 0:a6a169de725f 77
shimniok 0:a6a169de725f 78 i += put_uint8_t_by_index(target, i, msg->payload); // The system to be controlled
shimniok 0:a6a169de725f 79 i += put_float_by_index(roll, i, msg->payload); // roll
shimniok 0:a6a169de725f 80 i += put_float_by_index(pitch, i, msg->payload); // pitch
shimniok 0:a6a169de725f 81 i += put_float_by_index(yaw, i, msg->payload); // yaw
shimniok 0:a6a169de725f 82 i += put_float_by_index(thrust, i, msg->payload); // thrust
shimniok 0:a6a169de725f 83 i += put_uint8_t_by_index(roll_manual, i, msg->payload); // roll control enabled auto:0, manual:1
shimniok 0:a6a169de725f 84 i += put_uint8_t_by_index(pitch_manual, i, msg->payload); // pitch auto:0, manual:1
shimniok 0:a6a169de725f 85 i += put_uint8_t_by_index(yaw_manual, i, msg->payload); // yaw auto:0, manual:1
shimniok 0:a6a169de725f 86 i += put_uint8_t_by_index(thrust_manual, i, msg->payload); // thrust auto:0, manual:1
shimniok 0:a6a169de725f 87
shimniok 0:a6a169de725f 88 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 89 }
shimniok 0:a6a169de725f 90
shimniok 0:a6a169de725f 91 /**
shimniok 0:a6a169de725f 92 * @brief Encode a attitude_control struct into a message
shimniok 0:a6a169de725f 93 *
shimniok 0:a6a169de725f 94 * @param system_id ID of this system
shimniok 0:a6a169de725f 95 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 96 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 97 * @param attitude_control C-struct to read the message contents from
shimniok 0:a6a169de725f 98 */
shimniok 0:a6a169de725f 99 static inline uint16_t mavlink_msg_attitude_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_control_t* attitude_control)
shimniok 0:a6a169de725f 100 {
shimniok 0:a6a169de725f 101 return mavlink_msg_attitude_control_pack(system_id, component_id, msg, attitude_control->target, attitude_control->roll, attitude_control->pitch, attitude_control->yaw, attitude_control->thrust, attitude_control->roll_manual, attitude_control->pitch_manual, attitude_control->yaw_manual, attitude_control->thrust_manual);
shimniok 0:a6a169de725f 102 }
shimniok 0:a6a169de725f 103
shimniok 0:a6a169de725f 104 /**
shimniok 0:a6a169de725f 105 * @brief Send a attitude_control message
shimniok 0:a6a169de725f 106 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 107 *
shimniok 0:a6a169de725f 108 * @param target The system to be controlled
shimniok 0:a6a169de725f 109 * @param roll roll
shimniok 0:a6a169de725f 110 * @param pitch pitch
shimniok 0:a6a169de725f 111 * @param yaw yaw
shimniok 0:a6a169de725f 112 * @param thrust thrust
shimniok 0:a6a169de725f 113 * @param roll_manual roll control enabled auto:0, manual:1
shimniok 0:a6a169de725f 114 * @param pitch_manual pitch auto:0, manual:1
shimniok 0:a6a169de725f 115 * @param yaw_manual yaw auto:0, manual:1
shimniok 0:a6a169de725f 116 * @param thrust_manual thrust auto:0, manual:1
shimniok 0:a6a169de725f 117 */
shimniok 0:a6a169de725f 118 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 119
shimniok 0:a6a169de725f 120 static inline void mavlink_msg_attitude_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
shimniok 0:a6a169de725f 121 {
shimniok 0:a6a169de725f 122 mavlink_message_t msg;
shimniok 0:a6a169de725f 123 mavlink_msg_attitude_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual);
shimniok 0:a6a169de725f 124 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 125 }
shimniok 0:a6a169de725f 126
shimniok 0:a6a169de725f 127 #endif
shimniok 0:a6a169de725f 128 // MESSAGE ATTITUDE_CONTROL UNPACKING
shimniok 0:a6a169de725f 129
shimniok 0:a6a169de725f 130 /**
shimniok 0:a6a169de725f 131 * @brief Get field target from attitude_control message
shimniok 0:a6a169de725f 132 *
shimniok 0:a6a169de725f 133 * @return The system to be controlled
shimniok 0:a6a169de725f 134 */
shimniok 0:a6a169de725f 135 static inline uint8_t mavlink_msg_attitude_control_get_target(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 136 {
shimniok 0:a6a169de725f 137 return (uint8_t)(msg->payload)[0];
shimniok 0:a6a169de725f 138 }
shimniok 0:a6a169de725f 139
shimniok 0:a6a169de725f 140 /**
shimniok 0:a6a169de725f 141 * @brief Get field roll from attitude_control message
shimniok 0:a6a169de725f 142 *
shimniok 0:a6a169de725f 143 * @return roll
shimniok 0:a6a169de725f 144 */
shimniok 0:a6a169de725f 145 static inline float mavlink_msg_attitude_control_get_roll(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 146 {
shimniok 0:a6a169de725f 147 generic_32bit r;
shimniok 0:a6a169de725f 148 r.b[3] = (msg->payload+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 149 r.b[2] = (msg->payload+sizeof(uint8_t))[1];
shimniok 0:a6a169de725f 150 r.b[1] = (msg->payload+sizeof(uint8_t))[2];
shimniok 0:a6a169de725f 151 r.b[0] = (msg->payload+sizeof(uint8_t))[3];
shimniok 0:a6a169de725f 152 return (float)r.f;
shimniok 0:a6a169de725f 153 }
shimniok 0:a6a169de725f 154
shimniok 0:a6a169de725f 155 /**
shimniok 0:a6a169de725f 156 * @brief Get field pitch from attitude_control message
shimniok 0:a6a169de725f 157 *
shimniok 0:a6a169de725f 158 * @return pitch
shimniok 0:a6a169de725f 159 */
shimniok 0:a6a169de725f 160 static inline float mavlink_msg_attitude_control_get_pitch(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 161 {
shimniok 0:a6a169de725f 162 generic_32bit r;
shimniok 0:a6a169de725f 163 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float))[0];
shimniok 0:a6a169de725f 164 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1];
shimniok 0:a6a169de725f 165 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2];
shimniok 0:a6a169de725f 166 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float))[3];
shimniok 0:a6a169de725f 167 return (float)r.f;
shimniok 0:a6a169de725f 168 }
shimniok 0:a6a169de725f 169
shimniok 0:a6a169de725f 170 /**
shimniok 0:a6a169de725f 171 * @brief Get field yaw from attitude_control message
shimniok 0:a6a169de725f 172 *
shimniok 0:a6a169de725f 173 * @return yaw
shimniok 0:a6a169de725f 174 */
shimniok 0:a6a169de725f 175 static inline float mavlink_msg_attitude_control_get_yaw(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 176 {
shimniok 0:a6a169de725f 177 generic_32bit r;
shimniok 0:a6a169de725f 178 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 179 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 180 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 181 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 182 return (float)r.f;
shimniok 0:a6a169de725f 183 }
shimniok 0:a6a169de725f 184
shimniok 0:a6a169de725f 185 /**
shimniok 0:a6a169de725f 186 * @brief Get field thrust from attitude_control message
shimniok 0:a6a169de725f 187 *
shimniok 0:a6a169de725f 188 * @return thrust
shimniok 0:a6a169de725f 189 */
shimniok 0:a6a169de725f 190 static inline float mavlink_msg_attitude_control_get_thrust(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 191 {
shimniok 0:a6a169de725f 192 generic_32bit r;
shimniok 0:a6a169de725f 193 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 194 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 195 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 196 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 197 return (float)r.f;
shimniok 0:a6a169de725f 198 }
shimniok 0:a6a169de725f 199
shimniok 0:a6a169de725f 200 /**
shimniok 0:a6a169de725f 201 * @brief Get field roll_manual from attitude_control message
shimniok 0:a6a169de725f 202 *
shimniok 0:a6a169de725f 203 * @return roll control enabled auto:0, manual:1
shimniok 0:a6a169de725f 204 */
shimniok 0:a6a169de725f 205 static inline uint8_t mavlink_msg_attitude_control_get_roll_manual(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 206 {
shimniok 0:a6a169de725f 207 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 208 }
shimniok 0:a6a169de725f 209
shimniok 0:a6a169de725f 210 /**
shimniok 0:a6a169de725f 211 * @brief Get field pitch_manual from attitude_control message
shimniok 0:a6a169de725f 212 *
shimniok 0:a6a169de725f 213 * @return pitch auto:0, manual:1
shimniok 0:a6a169de725f 214 */
shimniok 0:a6a169de725f 215 static inline uint8_t mavlink_msg_attitude_control_get_pitch_manual(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 216 {
shimniok 0:a6a169de725f 217 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 218 }
shimniok 0:a6a169de725f 219
shimniok 0:a6a169de725f 220 /**
shimniok 0:a6a169de725f 221 * @brief Get field yaw_manual from attitude_control message
shimniok 0:a6a169de725f 222 *
shimniok 0:a6a169de725f 223 * @return yaw auto:0, manual:1
shimniok 0:a6a169de725f 224 */
shimniok 0:a6a169de725f 225 static inline uint8_t mavlink_msg_attitude_control_get_yaw_manual(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 226 {
shimniok 0:a6a169de725f 227 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 228 }
shimniok 0:a6a169de725f 229
shimniok 0:a6a169de725f 230 /**
shimniok 0:a6a169de725f 231 * @brief Get field thrust_manual from attitude_control message
shimniok 0:a6a169de725f 232 *
shimniok 0:a6a169de725f 233 * @return thrust auto:0, manual:1
shimniok 0:a6a169de725f 234 */
shimniok 0:a6a169de725f 235 static inline uint8_t mavlink_msg_attitude_control_get_thrust_manual(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 236 {
shimniok 0:a6a169de725f 237 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 238 }
shimniok 0:a6a169de725f 239
shimniok 0:a6a169de725f 240 /**
shimniok 0:a6a169de725f 241 * @brief Decode a attitude_control message into a struct
shimniok 0:a6a169de725f 242 *
shimniok 0:a6a169de725f 243 * @param msg The message to decode
shimniok 0:a6a169de725f 244 * @param attitude_control C-struct to decode the message contents into
shimniok 0:a6a169de725f 245 */
shimniok 0:a6a169de725f 246 static inline void mavlink_msg_attitude_control_decode(const mavlink_message_t* msg, mavlink_attitude_control_t* attitude_control)
shimniok 0:a6a169de725f 247 {
shimniok 0:a6a169de725f 248 attitude_control->target = mavlink_msg_attitude_control_get_target(msg);
shimniok 0:a6a169de725f 249 attitude_control->roll = mavlink_msg_attitude_control_get_roll(msg);
shimniok 0:a6a169de725f 250 attitude_control->pitch = mavlink_msg_attitude_control_get_pitch(msg);
shimniok 0:a6a169de725f 251 attitude_control->yaw = mavlink_msg_attitude_control_get_yaw(msg);
shimniok 0:a6a169de725f 252 attitude_control->thrust = mavlink_msg_attitude_control_get_thrust(msg);
shimniok 0:a6a169de725f 253 attitude_control->roll_manual = mavlink_msg_attitude_control_get_roll_manual(msg);
shimniok 0:a6a169de725f 254 attitude_control->pitch_manual = mavlink_msg_attitude_control_get_pitch_manual(msg);
shimniok 0:a6a169de725f 255 attitude_control->yaw_manual = mavlink_msg_attitude_control_get_yaw_manual(msg);
shimniok 0:a6a169de725f 256 attitude_control->thrust_manual = mavlink_msg_attitude_control_get_thrust_manual(msg);
shimniok 0:a6a169de725f 257 }