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_position_control_offset_set.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 POSITION_CONTROL_OFFSET_SET PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET 154
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_position_control_offset_set_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 float x; ///< x position offset
shimniok 0:a6a169de725f 10 float y; ///< y position offset
shimniok 0:a6a169de725f 11 float z; ///< z position offset
shimniok 0:a6a169de725f 12 float yaw; ///< yaw orientation offset in radians, 0 = NORTH
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14 } mavlink_position_control_offset_set_t;
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17
shimniok 0:a6a169de725f 18 /**
shimniok 0:a6a169de725f 19 * @brief Pack a position_control_offset_set 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 target_system System ID
shimniok 0:a6a169de725f 25 * @param target_component Component ID
shimniok 0:a6a169de725f 26 * @param x x position offset
shimniok 0:a6a169de725f 27 * @param y y position offset
shimniok 0:a6a169de725f 28 * @param z z position offset
shimniok 0:a6a169de725f 29 * @param yaw yaw orientation offset in radians, 0 = NORTH
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_position_control_offset_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw)
shimniok 0:a6a169de725f 33 {
shimniok 0:a6a169de725f 34 uint16_t i = 0;
shimniok 0:a6a169de725f 35 msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET;
shimniok 0:a6a169de725f 36
shimniok 0:a6a169de725f 37 i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
shimniok 0:a6a169de725f 38 i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
shimniok 0:a6a169de725f 39 i += put_float_by_index(x, i, msg->payload); // x position offset
shimniok 0:a6a169de725f 40 i += put_float_by_index(y, i, msg->payload); // y position offset
shimniok 0:a6a169de725f 41 i += put_float_by_index(z, i, msg->payload); // z position offset
shimniok 0:a6a169de725f 42 i += put_float_by_index(yaw, i, msg->payload); // yaw orientation offset in radians, 0 = NORTH
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 position_control_offset_set 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 target_system System ID
shimniok 0:a6a169de725f 54 * @param target_component Component ID
shimniok 0:a6a169de725f 55 * @param x x position offset
shimniok 0:a6a169de725f 56 * @param y y position offset
shimniok 0:a6a169de725f 57 * @param z z position offset
shimniok 0:a6a169de725f 58 * @param yaw yaw orientation offset in radians, 0 = NORTH
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_position_control_offset_set_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, float x, float y, float z, float yaw)
shimniok 0:a6a169de725f 62 {
shimniok 0:a6a169de725f 63 uint16_t i = 0;
shimniok 0:a6a169de725f 64 msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET;
shimniok 0:a6a169de725f 65
shimniok 0:a6a169de725f 66 i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
shimniok 0:a6a169de725f 67 i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
shimniok 0:a6a169de725f 68 i += put_float_by_index(x, i, msg->payload); // x position offset
shimniok 0:a6a169de725f 69 i += put_float_by_index(y, i, msg->payload); // y position offset
shimniok 0:a6a169de725f 70 i += put_float_by_index(z, i, msg->payload); // z position offset
shimniok 0:a6a169de725f 71 i += put_float_by_index(yaw, i, msg->payload); // yaw orientation offset in radians, 0 = NORTH
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 position_control_offset_set 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 position_control_offset_set C-struct to read the message contents from
shimniok 0:a6a169de725f 83 */
shimniok 0:a6a169de725f 84 static inline uint16_t mavlink_msg_position_control_offset_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_control_offset_set_t* position_control_offset_set)
shimniok 0:a6a169de725f 85 {
shimniok 0:a6a169de725f 86 return mavlink_msg_position_control_offset_set_pack(system_id, component_id, msg, position_control_offset_set->target_system, position_control_offset_set->target_component, position_control_offset_set->x, position_control_offset_set->y, position_control_offset_set->z, position_control_offset_set->yaw);
shimniok 0:a6a169de725f 87 }
shimniok 0:a6a169de725f 88
shimniok 0:a6a169de725f 89 /**
shimniok 0:a6a169de725f 90 * @brief Send a position_control_offset_set message
shimniok 0:a6a169de725f 91 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 92 *
shimniok 0:a6a169de725f 93 * @param target_system System ID
shimniok 0:a6a169de725f 94 * @param target_component Component ID
shimniok 0:a6a169de725f 95 * @param x x position offset
shimniok 0:a6a169de725f 96 * @param y y position offset
shimniok 0:a6a169de725f 97 * @param z z position offset
shimniok 0:a6a169de725f 98 * @param yaw yaw orientation offset in radians, 0 = NORTH
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_position_control_offset_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw)
shimniok 0:a6a169de725f 103 {
shimniok 0:a6a169de725f 104 mavlink_message_t msg;
shimniok 0:a6a169de725f 105 mavlink_msg_position_control_offset_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, x, y, z, yaw);
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 POSITION_CONTROL_OFFSET_SET UNPACKING
shimniok 0:a6a169de725f 111
shimniok 0:a6a169de725f 112 /**
shimniok 0:a6a169de725f 113 * @brief Get field target_system from position_control_offset_set message
shimniok 0:a6a169de725f 114 *
shimniok 0:a6a169de725f 115 * @return System ID
shimniok 0:a6a169de725f 116 */
shimniok 0:a6a169de725f 117 static inline uint8_t mavlink_msg_position_control_offset_set_get_target_system(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 118 {
shimniok 0:a6a169de725f 119 return (uint8_t)(msg->payload)[0];
shimniok 0:a6a169de725f 120 }
shimniok 0:a6a169de725f 121
shimniok 0:a6a169de725f 122 /**
shimniok 0:a6a169de725f 123 * @brief Get field target_component from position_control_offset_set message
shimniok 0:a6a169de725f 124 *
shimniok 0:a6a169de725f 125 * @return Component ID
shimniok 0:a6a169de725f 126 */
shimniok 0:a6a169de725f 127 static inline uint8_t mavlink_msg_position_control_offset_set_get_target_component(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 128 {
shimniok 0:a6a169de725f 129 return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 130 }
shimniok 0:a6a169de725f 131
shimniok 0:a6a169de725f 132 /**
shimniok 0:a6a169de725f 133 * @brief Get field x from position_control_offset_set message
shimniok 0:a6a169de725f 134 *
shimniok 0:a6a169de725f 135 * @return x position offset
shimniok 0:a6a169de725f 136 */
shimniok 0:a6a169de725f 137 static inline float mavlink_msg_position_control_offset_set_get_x(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 138 {
shimniok 0:a6a169de725f 139 generic_32bit r;
shimniok 0:a6a169de725f 140 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 141 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
shimniok 0:a6a169de725f 142 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2];
shimniok 0:a6a169de725f 143 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3];
shimniok 0:a6a169de725f 144 return (float)r.f;
shimniok 0:a6a169de725f 145 }
shimniok 0:a6a169de725f 146
shimniok 0:a6a169de725f 147 /**
shimniok 0:a6a169de725f 148 * @brief Get field y from position_control_offset_set message
shimniok 0:a6a169de725f 149 *
shimniok 0:a6a169de725f 150 * @return y position offset
shimniok 0:a6a169de725f 151 */
shimniok 0:a6a169de725f 152 static inline float mavlink_msg_position_control_offset_set_get_y(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 153 {
shimniok 0:a6a169de725f 154 generic_32bit r;
shimniok 0:a6a169de725f 155 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
shimniok 0:a6a169de725f 156 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1];
shimniok 0:a6a169de725f 157 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2];
shimniok 0:a6a169de725f 158 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3];
shimniok 0:a6a169de725f 159 return (float)r.f;
shimniok 0:a6a169de725f 160 }
shimniok 0:a6a169de725f 161
shimniok 0:a6a169de725f 162 /**
shimniok 0:a6a169de725f 163 * @brief Get field z from position_control_offset_set message
shimniok 0:a6a169de725f 164 *
shimniok 0:a6a169de725f 165 * @return z position offset
shimniok 0:a6a169de725f 166 */
shimniok 0:a6a169de725f 167 static inline float mavlink_msg_position_control_offset_set_get_z(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 168 {
shimniok 0:a6a169de725f 169 generic_32bit r;
shimniok 0:a6a169de725f 170 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 171 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 172 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 173 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 174 return (float)r.f;
shimniok 0:a6a169de725f 175 }
shimniok 0:a6a169de725f 176
shimniok 0:a6a169de725f 177 /**
shimniok 0:a6a169de725f 178 * @brief Get field yaw from position_control_offset_set message
shimniok 0:a6a169de725f 179 *
shimniok 0:a6a169de725f 180 * @return yaw orientation offset in radians, 0 = NORTH
shimniok 0:a6a169de725f 181 */
shimniok 0:a6a169de725f 182 static inline float mavlink_msg_position_control_offset_set_get_yaw(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 183 {
shimniok 0:a6a169de725f 184 generic_32bit r;
shimniok 0:a6a169de725f 185 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 186 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 187 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 188 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 189 return (float)r.f;
shimniok 0:a6a169de725f 190 }
shimniok 0:a6a169de725f 191
shimniok 0:a6a169de725f 192 /**
shimniok 0:a6a169de725f 193 * @brief Decode a position_control_offset_set message into a struct
shimniok 0:a6a169de725f 194 *
shimniok 0:a6a169de725f 195 * @param msg The message to decode
shimniok 0:a6a169de725f 196 * @param position_control_offset_set C-struct to decode the message contents into
shimniok 0:a6a169de725f 197 */
shimniok 0:a6a169de725f 198 static inline void mavlink_msg_position_control_offset_set_decode(const mavlink_message_t* msg, mavlink_position_control_offset_set_t* position_control_offset_set)
shimniok 0:a6a169de725f 199 {
shimniok 0:a6a169de725f 200 position_control_offset_set->target_system = mavlink_msg_position_control_offset_set_get_target_system(msg);
shimniok 0:a6a169de725f 201 position_control_offset_set->target_component = mavlink_msg_position_control_offset_set_get_target_component(msg);
shimniok 0:a6a169de725f 202 position_control_offset_set->x = mavlink_msg_position_control_offset_set_get_x(msg);
shimniok 0:a6a169de725f 203 position_control_offset_set->y = mavlink_msg_position_control_offset_set_get_y(msg);
shimniok 0:a6a169de725f 204 position_control_offset_set->z = mavlink_msg_position_control_offset_set_get_z(msg);
shimniok 0:a6a169de725f 205 position_control_offset_set->yaw = mavlink_msg_position_control_offset_set_get_yaw(msg);
shimniok 0:a6a169de725f 206 }