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_setpoint.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_SETPOINT PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT 121
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_position_control_setpoint_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint16_t id; ///< ID of waypoint, 0 for plain position
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 yaw; ///< yaw orientation in radians, 0 = NORTH
shimniok 0:a6a169de725f 12
shimniok 0:a6a169de725f 13 } mavlink_position_control_setpoint_t;
shimniok 0:a6a169de725f 14
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17 /**
shimniok 0:a6a169de725f 18 * @brief Pack a position_control_setpoint message
shimniok 0:a6a169de725f 19 * @param system_id ID of this system
shimniok 0:a6a169de725f 20 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 21 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 22 *
shimniok 0:a6a169de725f 23 * @param id ID of waypoint, 0 for plain position
shimniok 0:a6a169de725f 24 * @param x x position
shimniok 0:a6a169de725f 25 * @param y y position
shimniok 0:a6a169de725f 26 * @param z z position
shimniok 0:a6a169de725f 27 * @param yaw yaw orientation in radians, 0 = NORTH
shimniok 0:a6a169de725f 28 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 29 */
shimniok 0:a6a169de725f 30 static inline uint16_t mavlink_msg_position_control_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float yaw)
shimniok 0:a6a169de725f 31 {
shimniok 0:a6a169de725f 32 uint16_t i = 0;
shimniok 0:a6a169de725f 33 msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT;
shimniok 0:a6a169de725f 34
shimniok 0:a6a169de725f 35 i += put_uint16_t_by_index(id, i, msg->payload); // ID of waypoint, 0 for plain position
shimniok 0:a6a169de725f 36 i += put_float_by_index(x, i, msg->payload); // x position
shimniok 0:a6a169de725f 37 i += put_float_by_index(y, i, msg->payload); // y position
shimniok 0:a6a169de725f 38 i += put_float_by_index(z, i, msg->payload); // z position
shimniok 0:a6a169de725f 39 i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH
shimniok 0:a6a169de725f 40
shimniok 0:a6a169de725f 41 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 42 }
shimniok 0:a6a169de725f 43
shimniok 0:a6a169de725f 44 /**
shimniok 0:a6a169de725f 45 * @brief Pack a position_control_setpoint message
shimniok 0:a6a169de725f 46 * @param system_id ID of this system
shimniok 0:a6a169de725f 47 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 48 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 49 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 50 * @param id ID of waypoint, 0 for plain position
shimniok 0:a6a169de725f 51 * @param x x position
shimniok 0:a6a169de725f 52 * @param y y position
shimniok 0:a6a169de725f 53 * @param z z position
shimniok 0:a6a169de725f 54 * @param yaw yaw orientation in radians, 0 = NORTH
shimniok 0:a6a169de725f 55 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 56 */
shimniok 0:a6a169de725f 57 static inline uint16_t mavlink_msg_position_control_setpoint_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 yaw)
shimniok 0:a6a169de725f 58 {
shimniok 0:a6a169de725f 59 uint16_t i = 0;
shimniok 0:a6a169de725f 60 msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT;
shimniok 0:a6a169de725f 61
shimniok 0:a6a169de725f 62 i += put_uint16_t_by_index(id, i, msg->payload); // ID of waypoint, 0 for plain position
shimniok 0:a6a169de725f 63 i += put_float_by_index(x, i, msg->payload); // x position
shimniok 0:a6a169de725f 64 i += put_float_by_index(y, i, msg->payload); // y position
shimniok 0:a6a169de725f 65 i += put_float_by_index(z, i, msg->payload); // z position
shimniok 0:a6a169de725f 66 i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH
shimniok 0:a6a169de725f 67
shimniok 0:a6a169de725f 68 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 69 }
shimniok 0:a6a169de725f 70
shimniok 0:a6a169de725f 71 /**
shimniok 0:a6a169de725f 72 * @brief Encode a position_control_setpoint struct into a message
shimniok 0:a6a169de725f 73 *
shimniok 0:a6a169de725f 74 * @param system_id ID of this system
shimniok 0:a6a169de725f 75 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 76 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 77 * @param position_control_setpoint C-struct to read the message contents from
shimniok 0:a6a169de725f 78 */
shimniok 0:a6a169de725f 79 static inline uint16_t mavlink_msg_position_control_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_control_setpoint_t* position_control_setpoint)
shimniok 0:a6a169de725f 80 {
shimniok 0:a6a169de725f 81 return mavlink_msg_position_control_setpoint_pack(system_id, component_id, msg, position_control_setpoint->id, position_control_setpoint->x, position_control_setpoint->y, position_control_setpoint->z, position_control_setpoint->yaw);
shimniok 0:a6a169de725f 82 }
shimniok 0:a6a169de725f 83
shimniok 0:a6a169de725f 84 /**
shimniok 0:a6a169de725f 85 * @brief Send a position_control_setpoint message
shimniok 0:a6a169de725f 86 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 87 *
shimniok 0:a6a169de725f 88 * @param id ID of waypoint, 0 for plain position
shimniok 0:a6a169de725f 89 * @param x x position
shimniok 0:a6a169de725f 90 * @param y y position
shimniok 0:a6a169de725f 91 * @param z z position
shimniok 0:a6a169de725f 92 * @param yaw yaw orientation in radians, 0 = NORTH
shimniok 0:a6a169de725f 93 */
shimniok 0:a6a169de725f 94 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 95
shimniok 0:a6a169de725f 96 static inline void mavlink_msg_position_control_setpoint_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float yaw)
shimniok 0:a6a169de725f 97 {
shimniok 0:a6a169de725f 98 mavlink_message_t msg;
shimniok 0:a6a169de725f 99 mavlink_msg_position_control_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, id, x, y, z, yaw);
shimniok 0:a6a169de725f 100 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 101 }
shimniok 0:a6a169de725f 102
shimniok 0:a6a169de725f 103 #endif
shimniok 0:a6a169de725f 104 // MESSAGE POSITION_CONTROL_SETPOINT UNPACKING
shimniok 0:a6a169de725f 105
shimniok 0:a6a169de725f 106 /**
shimniok 0:a6a169de725f 107 * @brief Get field id from position_control_setpoint message
shimniok 0:a6a169de725f 108 *
shimniok 0:a6a169de725f 109 * @return ID of waypoint, 0 for plain position
shimniok 0:a6a169de725f 110 */
shimniok 0:a6a169de725f 111 static inline uint16_t mavlink_msg_position_control_setpoint_get_id(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 112 {
shimniok 0:a6a169de725f 113 generic_16bit r;
shimniok 0:a6a169de725f 114 r.b[1] = (msg->payload)[0];
shimniok 0:a6a169de725f 115 r.b[0] = (msg->payload)[1];
shimniok 0:a6a169de725f 116 return (uint16_t)r.s;
shimniok 0:a6a169de725f 117 }
shimniok 0:a6a169de725f 118
shimniok 0:a6a169de725f 119 /**
shimniok 0:a6a169de725f 120 * @brief Get field x from position_control_setpoint message
shimniok 0:a6a169de725f 121 *
shimniok 0:a6a169de725f 122 * @return x position
shimniok 0:a6a169de725f 123 */
shimniok 0:a6a169de725f 124 static inline float mavlink_msg_position_control_setpoint_get_x(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 125 {
shimniok 0:a6a169de725f 126 generic_32bit r;
shimniok 0:a6a169de725f 127 r.b[3] = (msg->payload+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 128 r.b[2] = (msg->payload+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 129 r.b[1] = (msg->payload+sizeof(uint16_t))[2];
shimniok 0:a6a169de725f 130 r.b[0] = (msg->payload+sizeof(uint16_t))[3];
shimniok 0:a6a169de725f 131 return (float)r.f;
shimniok 0:a6a169de725f 132 }
shimniok 0:a6a169de725f 133
shimniok 0:a6a169de725f 134 /**
shimniok 0:a6a169de725f 135 * @brief Get field y from position_control_setpoint message
shimniok 0:a6a169de725f 136 *
shimniok 0:a6a169de725f 137 * @return y position
shimniok 0:a6a169de725f 138 */
shimniok 0:a6a169de725f 139 static inline float mavlink_msg_position_control_setpoint_get_y(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 140 {
shimniok 0:a6a169de725f 141 generic_32bit r;
shimniok 0:a6a169de725f 142 r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float))[0];
shimniok 0:a6a169de725f 143 r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float))[1];
shimniok 0:a6a169de725f 144 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float))[2];
shimniok 0:a6a169de725f 145 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float))[3];
shimniok 0:a6a169de725f 146 return (float)r.f;
shimniok 0:a6a169de725f 147 }
shimniok 0:a6a169de725f 148
shimniok 0:a6a169de725f 149 /**
shimniok 0:a6a169de725f 150 * @brief Get field z from position_control_setpoint message
shimniok 0:a6a169de725f 151 *
shimniok 0:a6a169de725f 152 * @return z position
shimniok 0:a6a169de725f 153 */
shimniok 0:a6a169de725f 154 static inline float mavlink_msg_position_control_setpoint_get_z(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 155 {
shimniok 0:a6a169de725f 156 generic_32bit r;
shimniok 0:a6a169de725f 157 r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 158 r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 159 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 160 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 161 return (float)r.f;
shimniok 0:a6a169de725f 162 }
shimniok 0:a6a169de725f 163
shimniok 0:a6a169de725f 164 /**
shimniok 0:a6a169de725f 165 * @brief Get field yaw from position_control_setpoint message
shimniok 0:a6a169de725f 166 *
shimniok 0:a6a169de725f 167 * @return yaw orientation in radians, 0 = NORTH
shimniok 0:a6a169de725f 168 */
shimniok 0:a6a169de725f 169 static inline float mavlink_msg_position_control_setpoint_get_yaw(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 170 {
shimniok 0:a6a169de725f 171 generic_32bit r;
shimniok 0:a6a169de725f 172 r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 173 r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 174 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 175 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 176 return (float)r.f;
shimniok 0:a6a169de725f 177 }
shimniok 0:a6a169de725f 178
shimniok 0:a6a169de725f 179 /**
shimniok 0:a6a169de725f 180 * @brief Decode a position_control_setpoint message into a struct
shimniok 0:a6a169de725f 181 *
shimniok 0:a6a169de725f 182 * @param msg The message to decode
shimniok 0:a6a169de725f 183 * @param position_control_setpoint C-struct to decode the message contents into
shimniok 0:a6a169de725f 184 */
shimniok 0:a6a169de725f 185 static inline void mavlink_msg_position_control_setpoint_decode(const mavlink_message_t* msg, mavlink_position_control_setpoint_t* position_control_setpoint)
shimniok 0:a6a169de725f 186 {
shimniok 0:a6a169de725f 187 position_control_setpoint->id = mavlink_msg_position_control_setpoint_get_id(msg);
shimniok 0:a6a169de725f 188 position_control_setpoint->x = mavlink_msg_position_control_setpoint_get_x(msg);
shimniok 0:a6a169de725f 189 position_control_setpoint->y = mavlink_msg_position_control_setpoint_get_y(msg);
shimniok 0:a6a169de725f 190 position_control_setpoint->z = mavlink_msg_position_control_setpoint_get_z(msg);
shimniok 0:a6a169de725f 191 position_control_setpoint->yaw = mavlink_msg_position_control_setpoint_get_yaw(msg);
shimniok 0:a6a169de725f 192 }