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_marker.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 MARKER PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_MARKER 130
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_marker_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint16_t id; ///< ID
shimniok 0:a6a169de725f 8 float x; ///< x position
shimniok 0:a6a169de725f 9 float y; ///< y position
shimniok 0:a6a169de725f 10 float z; ///< z position
shimniok 0:a6a169de725f 11 float roll; ///< roll orientation
shimniok 0:a6a169de725f 12 float pitch; ///< pitch orientation
shimniok 0:a6a169de725f 13 float yaw; ///< yaw orientation
shimniok 0:a6a169de725f 14
shimniok 0:a6a169de725f 15 } mavlink_marker_t;
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17
shimniok 0:a6a169de725f 18
shimniok 0:a6a169de725f 19 /**
shimniok 0:a6a169de725f 20 * @brief Pack a marker 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 id ID
shimniok 0:a6a169de725f 26 * @param x x position
shimniok 0:a6a169de725f 27 * @param y y position
shimniok 0:a6a169de725f 28 * @param z z position
shimniok 0:a6a169de725f 29 * @param roll roll orientation
shimniok 0:a6a169de725f 30 * @param pitch pitch orientation
shimniok 0:a6a169de725f 31 * @param yaw yaw orientation
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_marker_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw)
shimniok 0:a6a169de725f 35 {
shimniok 0:a6a169de725f 36 uint16_t i = 0;
shimniok 0:a6a169de725f 37 msg->msgid = MAVLINK_MSG_ID_MARKER;
shimniok 0:a6a169de725f 38
shimniok 0:a6a169de725f 39 i += put_uint16_t_by_index(id, i, msg->payload); // ID
shimniok 0:a6a169de725f 40 i += put_float_by_index(x, i, msg->payload); // x position
shimniok 0:a6a169de725f 41 i += put_float_by_index(y, i, msg->payload); // y position
shimniok 0:a6a169de725f 42 i += put_float_by_index(z, i, msg->payload); // z position
shimniok 0:a6a169de725f 43 i += put_float_by_index(roll, i, msg->payload); // roll orientation
shimniok 0:a6a169de725f 44 i += put_float_by_index(pitch, i, msg->payload); // pitch orientation
shimniok 0:a6a169de725f 45 i += put_float_by_index(yaw, i, msg->payload); // yaw orientation
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 marker 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 id ID
shimniok 0:a6a169de725f 57 * @param x x position
shimniok 0:a6a169de725f 58 * @param y y position
shimniok 0:a6a169de725f 59 * @param z z position
shimniok 0:a6a169de725f 60 * @param roll roll orientation
shimniok 0:a6a169de725f 61 * @param pitch pitch orientation
shimniok 0:a6a169de725f 62 * @param yaw yaw orientation
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_marker_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw)
shimniok 0:a6a169de725f 66 {
shimniok 0:a6a169de725f 67 uint16_t i = 0;
shimniok 0:a6a169de725f 68 msg->msgid = MAVLINK_MSG_ID_MARKER;
shimniok 0:a6a169de725f 69
shimniok 0:a6a169de725f 70 i += put_uint16_t_by_index(id, i, msg->payload); // ID
shimniok 0:a6a169de725f 71 i += put_float_by_index(x, i, msg->payload); // x position
shimniok 0:a6a169de725f 72 i += put_float_by_index(y, i, msg->payload); // y position
shimniok 0:a6a169de725f 73 i += put_float_by_index(z, i, msg->payload); // z position
shimniok 0:a6a169de725f 74 i += put_float_by_index(roll, i, msg->payload); // roll orientation
shimniok 0:a6a169de725f 75 i += put_float_by_index(pitch, i, msg->payload); // pitch orientation
shimniok 0:a6a169de725f 76 i += put_float_by_index(yaw, i, msg->payload); // yaw orientation
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 marker 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 marker C-struct to read the message contents from
shimniok 0:a6a169de725f 88 */
shimniok 0:a6a169de725f 89 static inline uint16_t mavlink_msg_marker_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_marker_t* marker)
shimniok 0:a6a169de725f 90 {
shimniok 0:a6a169de725f 91 return mavlink_msg_marker_pack(system_id, component_id, msg, marker->id, marker->x, marker->y, marker->z, marker->roll, marker->pitch, marker->yaw);
shimniok 0:a6a169de725f 92 }
shimniok 0:a6a169de725f 93
shimniok 0:a6a169de725f 94 /**
shimniok 0:a6a169de725f 95 * @brief Send a marker message
shimniok 0:a6a169de725f 96 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 97 *
shimniok 0:a6a169de725f 98 * @param id ID
shimniok 0:a6a169de725f 99 * @param x x position
shimniok 0:a6a169de725f 100 * @param y y position
shimniok 0:a6a169de725f 101 * @param z z position
shimniok 0:a6a169de725f 102 * @param roll roll orientation
shimniok 0:a6a169de725f 103 * @param pitch pitch orientation
shimniok 0:a6a169de725f 104 * @param yaw yaw orientation
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_marker_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw)
shimniok 0:a6a169de725f 109 {
shimniok 0:a6a169de725f 110 mavlink_message_t msg;
shimniok 0:a6a169de725f 111 mavlink_msg_marker_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, id, x, y, z, roll, pitch, yaw);
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 MARKER UNPACKING
shimniok 0:a6a169de725f 117
shimniok 0:a6a169de725f 118 /**
shimniok 0:a6a169de725f 119 * @brief Get field id from marker message
shimniok 0:a6a169de725f 120 *
shimniok 0:a6a169de725f 121 * @return ID
shimniok 0:a6a169de725f 122 */
shimniok 0:a6a169de725f 123 static inline uint16_t mavlink_msg_marker_get_id(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 124 {
shimniok 0:a6a169de725f 125 generic_16bit r;
shimniok 0:a6a169de725f 126 r.b[1] = (msg->payload)[0];
shimniok 0:a6a169de725f 127 r.b[0] = (msg->payload)[1];
shimniok 0:a6a169de725f 128 return (uint16_t)r.s;
shimniok 0:a6a169de725f 129 }
shimniok 0:a6a169de725f 130
shimniok 0:a6a169de725f 131 /**
shimniok 0:a6a169de725f 132 * @brief Get field x from marker message
shimniok 0:a6a169de725f 133 *
shimniok 0:a6a169de725f 134 * @return x position
shimniok 0:a6a169de725f 135 */
shimniok 0:a6a169de725f 136 static inline float mavlink_msg_marker_get_x(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 137 {
shimniok 0:a6a169de725f 138 generic_32bit r;
shimniok 0:a6a169de725f 139 r.b[3] = (msg->payload+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 140 r.b[2] = (msg->payload+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 141 r.b[1] = (msg->payload+sizeof(uint16_t))[2];
shimniok 0:a6a169de725f 142 r.b[0] = (msg->payload+sizeof(uint16_t))[3];
shimniok 0:a6a169de725f 143 return (float)r.f;
shimniok 0:a6a169de725f 144 }
shimniok 0:a6a169de725f 145
shimniok 0:a6a169de725f 146 /**
shimniok 0:a6a169de725f 147 * @brief Get field y from marker message
shimniok 0:a6a169de725f 148 *
shimniok 0:a6a169de725f 149 * @return y position
shimniok 0:a6a169de725f 150 */
shimniok 0:a6a169de725f 151 static inline float mavlink_msg_marker_get_y(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 152 {
shimniok 0:a6a169de725f 153 generic_32bit r;
shimniok 0:a6a169de725f 154 r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float))[0];
shimniok 0:a6a169de725f 155 r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float))[1];
shimniok 0:a6a169de725f 156 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float))[2];
shimniok 0:a6a169de725f 157 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float))[3];
shimniok 0:a6a169de725f 158 return (float)r.f;
shimniok 0:a6a169de725f 159 }
shimniok 0:a6a169de725f 160
shimniok 0:a6a169de725f 161 /**
shimniok 0:a6a169de725f 162 * @brief Get field z from marker message
shimniok 0:a6a169de725f 163 *
shimniok 0:a6a169de725f 164 * @return z position
shimniok 0:a6a169de725f 165 */
shimniok 0:a6a169de725f 166 static inline float mavlink_msg_marker_get_z(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 167 {
shimniok 0:a6a169de725f 168 generic_32bit r;
shimniok 0:a6a169de725f 169 r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 170 r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 171 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 172 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 173 return (float)r.f;
shimniok 0:a6a169de725f 174 }
shimniok 0:a6a169de725f 175
shimniok 0:a6a169de725f 176 /**
shimniok 0:a6a169de725f 177 * @brief Get field roll from marker message
shimniok 0:a6a169de725f 178 *
shimniok 0:a6a169de725f 179 * @return roll orientation
shimniok 0:a6a169de725f 180 */
shimniok 0:a6a169de725f 181 static inline float mavlink_msg_marker_get_roll(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 182 {
shimniok 0:a6a169de725f 183 generic_32bit r;
shimniok 0:a6a169de725f 184 r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 185 r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 186 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 187 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 188 return (float)r.f;
shimniok 0:a6a169de725f 189 }
shimniok 0:a6a169de725f 190
shimniok 0:a6a169de725f 191 /**
shimniok 0:a6a169de725f 192 * @brief Get field pitch from marker message
shimniok 0:a6a169de725f 193 *
shimniok 0:a6a169de725f 194 * @return pitch orientation
shimniok 0:a6a169de725f 195 */
shimniok 0:a6a169de725f 196 static inline float mavlink_msg_marker_get_pitch(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 197 {
shimniok 0:a6a169de725f 198 generic_32bit r;
shimniok 0:a6a169de725f 199 r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 200 r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 201 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 202 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 203 return (float)r.f;
shimniok 0:a6a169de725f 204 }
shimniok 0:a6a169de725f 205
shimniok 0:a6a169de725f 206 /**
shimniok 0:a6a169de725f 207 * @brief Get field yaw from marker message
shimniok 0:a6a169de725f 208 *
shimniok 0:a6a169de725f 209 * @return yaw orientation
shimniok 0:a6a169de725f 210 */
shimniok 0:a6a169de725f 211 static inline float mavlink_msg_marker_get_yaw(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 212 {
shimniok 0:a6a169de725f 213 generic_32bit r;
shimniok 0:a6a169de725f 214 r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 215 r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 216 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 217 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 218 return (float)r.f;
shimniok 0:a6a169de725f 219 }
shimniok 0:a6a169de725f 220
shimniok 0:a6a169de725f 221 /**
shimniok 0:a6a169de725f 222 * @brief Decode a marker message into a struct
shimniok 0:a6a169de725f 223 *
shimniok 0:a6a169de725f 224 * @param msg The message to decode
shimniok 0:a6a169de725f 225 * @param marker C-struct to decode the message contents into
shimniok 0:a6a169de725f 226 */
shimniok 0:a6a169de725f 227 static inline void mavlink_msg_marker_decode(const mavlink_message_t* msg, mavlink_marker_t* marker)
shimniok 0:a6a169de725f 228 {
shimniok 0:a6a169de725f 229 marker->id = mavlink_msg_marker_get_id(msg);
shimniok 0:a6a169de725f 230 marker->x = mavlink_msg_marker_get_x(msg);
shimniok 0:a6a169de725f 231 marker->y = mavlink_msg_marker_get_y(msg);
shimniok 0:a6a169de725f 232 marker->z = mavlink_msg_marker_get_z(msg);
shimniok 0:a6a169de725f 233 marker->roll = mavlink_msg_marker_get_roll(msg);
shimniok 0:a6a169de725f 234 marker->pitch = mavlink_msg_marker_get_pitch(msg);
shimniok 0:a6a169de725f 235 marker->yaw = mavlink_msg_marker_get_yaw(msg);
shimniok 0:a6a169de725f 236 }