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_brief_feature.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 BRIEF_FEATURE PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_BRIEF_FEATURE 172
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_brief_feature_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 float x; ///< x position in m
shimniok 0:a6a169de725f 8 float y; ///< y position in m
shimniok 0:a6a169de725f 9 float z; ///< z position in m
shimniok 0:a6a169de725f 10 uint8_t orientation_assignment; ///< Orientation assignment 0: false, 1:true
shimniok 0:a6a169de725f 11 uint16_t size; ///< Size in pixels
shimniok 0:a6a169de725f 12 uint16_t orientation; ///< Orientation
shimniok 0:a6a169de725f 13 uint8_t descriptor[32]; ///< Descriptor
shimniok 0:a6a169de725f 14 float response; ///< Harris operator response at this location
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16 } mavlink_brief_feature_t;
shimniok 0:a6a169de725f 17
shimniok 0:a6a169de725f 18 #define MAVLINK_MSG_BRIEF_FEATURE_FIELD_DESCRIPTOR_LEN 32
shimniok 0:a6a169de725f 19
shimniok 0:a6a169de725f 20
shimniok 0:a6a169de725f 21 /**
shimniok 0:a6a169de725f 22 * @brief Pack a brief_feature 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 x x position in m
shimniok 0:a6a169de725f 28 * @param y y position in m
shimniok 0:a6a169de725f 29 * @param z z position in m
shimniok 0:a6a169de725f 30 * @param orientation_assignment Orientation assignment 0: false, 1:true
shimniok 0:a6a169de725f 31 * @param size Size in pixels
shimniok 0:a6a169de725f 32 * @param orientation Orientation
shimniok 0:a6a169de725f 33 * @param descriptor Descriptor
shimniok 0:a6a169de725f 34 * @param response Harris operator response at this location
shimniok 0:a6a169de725f 35 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 36 */
shimniok 0:a6a169de725f 37 static inline uint16_t mavlink_msg_brief_feature_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response)
shimniok 0:a6a169de725f 38 {
shimniok 0:a6a169de725f 39 uint16_t i = 0;
shimniok 0:a6a169de725f 40 msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE;
shimniok 0:a6a169de725f 41
shimniok 0:a6a169de725f 42 i += put_float_by_index(x, i, msg->payload); // x position in m
shimniok 0:a6a169de725f 43 i += put_float_by_index(y, i, msg->payload); // y position in m
shimniok 0:a6a169de725f 44 i += put_float_by_index(z, i, msg->payload); // z position in m
shimniok 0:a6a169de725f 45 i += put_uint8_t_by_index(orientation_assignment, i, msg->payload); // Orientation assignment 0: false, 1:true
shimniok 0:a6a169de725f 46 i += put_uint16_t_by_index(size, i, msg->payload); // Size in pixels
shimniok 0:a6a169de725f 47 i += put_uint16_t_by_index(orientation, i, msg->payload); // Orientation
shimniok 0:a6a169de725f 48 i += put_array_by_index((const int8_t*)descriptor, sizeof(uint8_t)*32, i, msg->payload); // Descriptor
shimniok 0:a6a169de725f 49 i += put_float_by_index(response, i, msg->payload); // Harris operator response at this location
shimniok 0:a6a169de725f 50
shimniok 0:a6a169de725f 51 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 52 }
shimniok 0:a6a169de725f 53
shimniok 0:a6a169de725f 54 /**
shimniok 0:a6a169de725f 55 * @brief Pack a brief_feature message
shimniok 0:a6a169de725f 56 * @param system_id ID of this system
shimniok 0:a6a169de725f 57 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 58 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 59 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 60 * @param x x position in m
shimniok 0:a6a169de725f 61 * @param y y position in m
shimniok 0:a6a169de725f 62 * @param z z position in m
shimniok 0:a6a169de725f 63 * @param orientation_assignment Orientation assignment 0: false, 1:true
shimniok 0:a6a169de725f 64 * @param size Size in pixels
shimniok 0:a6a169de725f 65 * @param orientation Orientation
shimniok 0:a6a169de725f 66 * @param descriptor Descriptor
shimniok 0:a6a169de725f 67 * @param response Harris operator response at this location
shimniok 0:a6a169de725f 68 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 69 */
shimniok 0:a6a169de725f 70 static inline uint16_t mavlink_msg_brief_feature_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response)
shimniok 0:a6a169de725f 71 {
shimniok 0:a6a169de725f 72 uint16_t i = 0;
shimniok 0:a6a169de725f 73 msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE;
shimniok 0:a6a169de725f 74
shimniok 0:a6a169de725f 75 i += put_float_by_index(x, i, msg->payload); // x position in m
shimniok 0:a6a169de725f 76 i += put_float_by_index(y, i, msg->payload); // y position in m
shimniok 0:a6a169de725f 77 i += put_float_by_index(z, i, msg->payload); // z position in m
shimniok 0:a6a169de725f 78 i += put_uint8_t_by_index(orientation_assignment, i, msg->payload); // Orientation assignment 0: false, 1:true
shimniok 0:a6a169de725f 79 i += put_uint16_t_by_index(size, i, msg->payload); // Size in pixels
shimniok 0:a6a169de725f 80 i += put_uint16_t_by_index(orientation, i, msg->payload); // Orientation
shimniok 0:a6a169de725f 81 i += put_array_by_index((const int8_t*)descriptor, sizeof(uint8_t)*32, i, msg->payload); // Descriptor
shimniok 0:a6a169de725f 82 i += put_float_by_index(response, i, msg->payload); // Harris operator response at this location
shimniok 0:a6a169de725f 83
shimniok 0:a6a169de725f 84 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 85 }
shimniok 0:a6a169de725f 86
shimniok 0:a6a169de725f 87 /**
shimniok 0:a6a169de725f 88 * @brief Encode a brief_feature struct into a message
shimniok 0:a6a169de725f 89 *
shimniok 0:a6a169de725f 90 * @param system_id ID of this system
shimniok 0:a6a169de725f 91 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 92 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 93 * @param brief_feature C-struct to read the message contents from
shimniok 0:a6a169de725f 94 */
shimniok 0:a6a169de725f 95 static inline uint16_t mavlink_msg_brief_feature_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_brief_feature_t* brief_feature)
shimniok 0:a6a169de725f 96 {
shimniok 0:a6a169de725f 97 return mavlink_msg_brief_feature_pack(system_id, component_id, msg, brief_feature->x, brief_feature->y, brief_feature->z, brief_feature->orientation_assignment, brief_feature->size, brief_feature->orientation, brief_feature->descriptor, brief_feature->response);
shimniok 0:a6a169de725f 98 }
shimniok 0:a6a169de725f 99
shimniok 0:a6a169de725f 100 /**
shimniok 0:a6a169de725f 101 * @brief Send a brief_feature message
shimniok 0:a6a169de725f 102 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 103 *
shimniok 0:a6a169de725f 104 * @param x x position in m
shimniok 0:a6a169de725f 105 * @param y y position in m
shimniok 0:a6a169de725f 106 * @param z z position in m
shimniok 0:a6a169de725f 107 * @param orientation_assignment Orientation assignment 0: false, 1:true
shimniok 0:a6a169de725f 108 * @param size Size in pixels
shimniok 0:a6a169de725f 109 * @param orientation Orientation
shimniok 0:a6a169de725f 110 * @param descriptor Descriptor
shimniok 0:a6a169de725f 111 * @param response Harris operator response at this location
shimniok 0:a6a169de725f 112 */
shimniok 0:a6a169de725f 113 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 114
shimniok 0:a6a169de725f 115 static inline void mavlink_msg_brief_feature_send(mavlink_channel_t chan, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response)
shimniok 0:a6a169de725f 116 {
shimniok 0:a6a169de725f 117 mavlink_message_t msg;
shimniok 0:a6a169de725f 118 mavlink_msg_brief_feature_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, x, y, z, orientation_assignment, size, orientation, descriptor, response);
shimniok 0:a6a169de725f 119 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 120 }
shimniok 0:a6a169de725f 121
shimniok 0:a6a169de725f 122 #endif
shimniok 0:a6a169de725f 123 // MESSAGE BRIEF_FEATURE UNPACKING
shimniok 0:a6a169de725f 124
shimniok 0:a6a169de725f 125 /**
shimniok 0:a6a169de725f 126 * @brief Get field x from brief_feature message
shimniok 0:a6a169de725f 127 *
shimniok 0:a6a169de725f 128 * @return x position in m
shimniok 0:a6a169de725f 129 */
shimniok 0:a6a169de725f 130 static inline float mavlink_msg_brief_feature_get_x(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 131 {
shimniok 0:a6a169de725f 132 generic_32bit r;
shimniok 0:a6a169de725f 133 r.b[3] = (msg->payload)[0];
shimniok 0:a6a169de725f 134 r.b[2] = (msg->payload)[1];
shimniok 0:a6a169de725f 135 r.b[1] = (msg->payload)[2];
shimniok 0:a6a169de725f 136 r.b[0] = (msg->payload)[3];
shimniok 0:a6a169de725f 137 return (float)r.f;
shimniok 0:a6a169de725f 138 }
shimniok 0:a6a169de725f 139
shimniok 0:a6a169de725f 140 /**
shimniok 0:a6a169de725f 141 * @brief Get field y from brief_feature message
shimniok 0:a6a169de725f 142 *
shimniok 0:a6a169de725f 143 * @return y position in m
shimniok 0:a6a169de725f 144 */
shimniok 0:a6a169de725f 145 static inline float mavlink_msg_brief_feature_get_y(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(float))[0];
shimniok 0:a6a169de725f 149 r.b[2] = (msg->payload+sizeof(float))[1];
shimniok 0:a6a169de725f 150 r.b[1] = (msg->payload+sizeof(float))[2];
shimniok 0:a6a169de725f 151 r.b[0] = (msg->payload+sizeof(float))[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 z from brief_feature message
shimniok 0:a6a169de725f 157 *
shimniok 0:a6a169de725f 158 * @return z position in m
shimniok 0:a6a169de725f 159 */
shimniok 0:a6a169de725f 160 static inline float mavlink_msg_brief_feature_get_z(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(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 164 r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 165 r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 166 r.b[0] = (msg->payload+sizeof(float)+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 orientation_assignment from brief_feature message
shimniok 0:a6a169de725f 172 *
shimniok 0:a6a169de725f 173 * @return Orientation assignment 0: false, 1:true
shimniok 0:a6a169de725f 174 */
shimniok 0:a6a169de725f 175 static inline uint8_t mavlink_msg_brief_feature_get_orientation_assignment(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 176 {
shimniok 0:a6a169de725f 177 return (uint8_t)(msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 178 }
shimniok 0:a6a169de725f 179
shimniok 0:a6a169de725f 180 /**
shimniok 0:a6a169de725f 181 * @brief Get field size from brief_feature message
shimniok 0:a6a169de725f 182 *
shimniok 0:a6a169de725f 183 * @return Size in pixels
shimniok 0:a6a169de725f 184 */
shimniok 0:a6a169de725f 185 static inline uint16_t mavlink_msg_brief_feature_get_size(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(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 189 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+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 orientation from brief_feature message
shimniok 0:a6a169de725f 195 *
shimniok 0:a6a169de725f 196 * @return Orientation
shimniok 0:a6a169de725f 197 */
shimniok 0:a6a169de725f 198 static inline uint16_t mavlink_msg_brief_feature_get_orientation(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 199 {
shimniok 0:a6a169de725f 200 generic_16bit r;
shimniok 0:a6a169de725f 201 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 202 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 203 return (uint16_t)r.s;
shimniok 0:a6a169de725f 204 }
shimniok 0:a6a169de725f 205
shimniok 0:a6a169de725f 206 /**
shimniok 0:a6a169de725f 207 * @brief Get field descriptor from brief_feature message
shimniok 0:a6a169de725f 208 *
shimniok 0:a6a169de725f 209 * @return Descriptor
shimniok 0:a6a169de725f 210 */
shimniok 0:a6a169de725f 211 static inline uint16_t mavlink_msg_brief_feature_get_descriptor(const mavlink_message_t* msg, uint8_t* r_data)
shimniok 0:a6a169de725f 212 {
shimniok 0:a6a169de725f 213
shimniok 0:a6a169de725f 214 memcpy(r_data, msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t), sizeof(uint8_t)*32);
shimniok 0:a6a169de725f 215 return sizeof(uint8_t)*32;
shimniok 0:a6a169de725f 216 }
shimniok 0:a6a169de725f 217
shimniok 0:a6a169de725f 218 /**
shimniok 0:a6a169de725f 219 * @brief Get field response from brief_feature message
shimniok 0:a6a169de725f 220 *
shimniok 0:a6a169de725f 221 * @return Harris operator response at this location
shimniok 0:a6a169de725f 222 */
shimniok 0:a6a169de725f 223 static inline float mavlink_msg_brief_feature_get_response(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 224 {
shimniok 0:a6a169de725f 225 generic_32bit r;
shimniok 0:a6a169de725f 226 r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[0];
shimniok 0:a6a169de725f 227 r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[1];
shimniok 0:a6a169de725f 228 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[2];
shimniok 0:a6a169de725f 229 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[3];
shimniok 0:a6a169de725f 230 return (float)r.f;
shimniok 0:a6a169de725f 231 }
shimniok 0:a6a169de725f 232
shimniok 0:a6a169de725f 233 /**
shimniok 0:a6a169de725f 234 * @brief Decode a brief_feature message into a struct
shimniok 0:a6a169de725f 235 *
shimniok 0:a6a169de725f 236 * @param msg The message to decode
shimniok 0:a6a169de725f 237 * @param brief_feature C-struct to decode the message contents into
shimniok 0:a6a169de725f 238 */
shimniok 0:a6a169de725f 239 static inline void mavlink_msg_brief_feature_decode(const mavlink_message_t* msg, mavlink_brief_feature_t* brief_feature)
shimniok 0:a6a169de725f 240 {
shimniok 0:a6a169de725f 241 brief_feature->x = mavlink_msg_brief_feature_get_x(msg);
shimniok 0:a6a169de725f 242 brief_feature->y = mavlink_msg_brief_feature_get_y(msg);
shimniok 0:a6a169de725f 243 brief_feature->z = mavlink_msg_brief_feature_get_z(msg);
shimniok 0:a6a169de725f 244 brief_feature->orientation_assignment = mavlink_msg_brief_feature_get_orientation_assignment(msg);
shimniok 0:a6a169de725f 245 brief_feature->size = mavlink_msg_brief_feature_get_size(msg);
shimniok 0:a6a169de725f 246 brief_feature->orientation = mavlink_msg_brief_feature_get_orientation(msg);
shimniok 0:a6a169de725f 247 mavlink_msg_brief_feature_get_descriptor(msg, brief_feature->descriptor);
shimniok 0:a6a169de725f 248 brief_feature->response = mavlink_msg_brief_feature_get_response(msg);
shimniok 0:a6a169de725f 249 }