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/common/mavlink_msg_debug_vect.h@25:bb5356402687, 2018-11-30 (annotated)
- Committer:
- shimniok
- Date:
- Fri Nov 30 16:11:53 2018 +0000
- Revision:
- 25:bb5356402687
- Parent:
- 0:a6a169de725f
Initial publish of revised version.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:a6a169de725f | 1 | // MESSAGE DEBUG_VECT PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_DEBUG_VECT 251 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_debug_vect_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | char name[10]; ///< Name |
shimniok | 0:a6a169de725f | 8 | uint64_t usec; ///< Timestamp |
shimniok | 0:a6a169de725f | 9 | float x; ///< x |
shimniok | 0:a6a169de725f | 10 | float y; ///< y |
shimniok | 0:a6a169de725f | 11 | float z; ///< z |
shimniok | 0:a6a169de725f | 12 | |
shimniok | 0:a6a169de725f | 13 | } mavlink_debug_vect_t; |
shimniok | 0:a6a169de725f | 14 | |
shimniok | 0:a6a169de725f | 15 | #define MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN 10 |
shimniok | 0:a6a169de725f | 16 | |
shimniok | 0:a6a169de725f | 17 | |
shimniok | 0:a6a169de725f | 18 | /** |
shimniok | 0:a6a169de725f | 19 | * @brief Pack a debug_vect 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 name Name |
shimniok | 0:a6a169de725f | 25 | * @param usec Timestamp |
shimniok | 0:a6a169de725f | 26 | * @param x x |
shimniok | 0:a6a169de725f | 27 | * @param y y |
shimniok | 0:a6a169de725f | 28 | * @param z z |
shimniok | 0:a6a169de725f | 29 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 30 | */ |
shimniok | 0:a6a169de725f | 31 | static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char* name, uint64_t usec, float x, float y, float z) |
shimniok | 0:a6a169de725f | 32 | { |
shimniok | 0:a6a169de725f | 33 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 34 | msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT; |
shimniok | 0:a6a169de725f | 35 | |
shimniok | 0:a6a169de725f | 36 | i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name |
shimniok | 0:a6a169de725f | 37 | i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp |
shimniok | 0:a6a169de725f | 38 | i += put_float_by_index(x, i, msg->payload); // x |
shimniok | 0:a6a169de725f | 39 | i += put_float_by_index(y, i, msg->payload); // y |
shimniok | 0:a6a169de725f | 40 | i += put_float_by_index(z, i, msg->payload); // z |
shimniok | 0:a6a169de725f | 41 | |
shimniok | 0:a6a169de725f | 42 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 43 | } |
shimniok | 0:a6a169de725f | 44 | |
shimniok | 0:a6a169de725f | 45 | /** |
shimniok | 0:a6a169de725f | 46 | * @brief Pack a debug_vect message |
shimniok | 0:a6a169de725f | 47 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 48 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 49 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 50 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 51 | * @param name Name |
shimniok | 0:a6a169de725f | 52 | * @param usec Timestamp |
shimniok | 0:a6a169de725f | 53 | * @param x x |
shimniok | 0:a6a169de725f | 54 | * @param y y |
shimniok | 0:a6a169de725f | 55 | * @param z z |
shimniok | 0:a6a169de725f | 56 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 57 | */ |
shimniok | 0:a6a169de725f | 58 | static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const char* name, uint64_t usec, float x, float y, float z) |
shimniok | 0:a6a169de725f | 59 | { |
shimniok | 0:a6a169de725f | 60 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 61 | msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT; |
shimniok | 0:a6a169de725f | 62 | |
shimniok | 0:a6a169de725f | 63 | i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name |
shimniok | 0:a6a169de725f | 64 | i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp |
shimniok | 0:a6a169de725f | 65 | i += put_float_by_index(x, i, msg->payload); // x |
shimniok | 0:a6a169de725f | 66 | i += put_float_by_index(y, i, msg->payload); // y |
shimniok | 0:a6a169de725f | 67 | i += put_float_by_index(z, i, msg->payload); // z |
shimniok | 0:a6a169de725f | 68 | |
shimniok | 0:a6a169de725f | 69 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:a6a169de725f | 70 | } |
shimniok | 0:a6a169de725f | 71 | |
shimniok | 0:a6a169de725f | 72 | /** |
shimniok | 0:a6a169de725f | 73 | * @brief Encode a debug_vect struct into a message |
shimniok | 0:a6a169de725f | 74 | * |
shimniok | 0:a6a169de725f | 75 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 76 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 77 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 78 | * @param debug_vect C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 79 | */ |
shimniok | 0:a6a169de725f | 80 | static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_vect_t* debug_vect) |
shimniok | 0:a6a169de725f | 81 | { |
shimniok | 0:a6a169de725f | 82 | return mavlink_msg_debug_vect_pack(system_id, component_id, msg, debug_vect->name, debug_vect->usec, debug_vect->x, debug_vect->y, debug_vect->z); |
shimniok | 0:a6a169de725f | 83 | } |
shimniok | 0:a6a169de725f | 84 | |
shimniok | 0:a6a169de725f | 85 | /** |
shimniok | 0:a6a169de725f | 86 | * @brief Send a debug_vect message |
shimniok | 0:a6a169de725f | 87 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 88 | * |
shimniok | 0:a6a169de725f | 89 | * @param name Name |
shimniok | 0:a6a169de725f | 90 | * @param usec Timestamp |
shimniok | 0:a6a169de725f | 91 | * @param x x |
shimniok | 0:a6a169de725f | 92 | * @param y y |
shimniok | 0:a6a169de725f | 93 | * @param z z |
shimniok | 0:a6a169de725f | 94 | */ |
shimniok | 0:a6a169de725f | 95 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 96 | |
shimniok | 0:a6a169de725f | 97 | static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const char* name, uint64_t usec, float x, float y, float z) |
shimniok | 0:a6a169de725f | 98 | { |
shimniok | 0:a6a169de725f | 99 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 100 | mavlink_msg_debug_vect_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, name, usec, x, y, z); |
shimniok | 0:a6a169de725f | 101 | mavlink_send_uart(chan, &msg); |
shimniok | 0:a6a169de725f | 102 | } |
shimniok | 0:a6a169de725f | 103 | |
shimniok | 0:a6a169de725f | 104 | #endif |
shimniok | 0:a6a169de725f | 105 | // MESSAGE DEBUG_VECT UNPACKING |
shimniok | 0:a6a169de725f | 106 | |
shimniok | 0:a6a169de725f | 107 | /** |
shimniok | 0:a6a169de725f | 108 | * @brief Get field name from debug_vect message |
shimniok | 0:a6a169de725f | 109 | * |
shimniok | 0:a6a169de725f | 110 | * @return Name |
shimniok | 0:a6a169de725f | 111 | */ |
shimniok | 0:a6a169de725f | 112 | static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char* r_data) |
shimniok | 0:a6a169de725f | 113 | { |
shimniok | 0:a6a169de725f | 114 | |
shimniok | 0:a6a169de725f | 115 | memcpy(r_data, msg->payload, sizeof(char)*10); |
shimniok | 0:a6a169de725f | 116 | return sizeof(char)*10; |
shimniok | 0:a6a169de725f | 117 | } |
shimniok | 0:a6a169de725f | 118 | |
shimniok | 0:a6a169de725f | 119 | /** |
shimniok | 0:a6a169de725f | 120 | * @brief Get field usec from debug_vect message |
shimniok | 0:a6a169de725f | 121 | * |
shimniok | 0:a6a169de725f | 122 | * @return Timestamp |
shimniok | 0:a6a169de725f | 123 | */ |
shimniok | 0:a6a169de725f | 124 | static inline uint64_t mavlink_msg_debug_vect_get_usec(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 125 | { |
shimniok | 0:a6a169de725f | 126 | generic_64bit r; |
shimniok | 0:a6a169de725f | 127 | r.b[7] = (msg->payload+sizeof(char)*10)[0]; |
shimniok | 0:a6a169de725f | 128 | r.b[6] = (msg->payload+sizeof(char)*10)[1]; |
shimniok | 0:a6a169de725f | 129 | r.b[5] = (msg->payload+sizeof(char)*10)[2]; |
shimniok | 0:a6a169de725f | 130 | r.b[4] = (msg->payload+sizeof(char)*10)[3]; |
shimniok | 0:a6a169de725f | 131 | r.b[3] = (msg->payload+sizeof(char)*10)[4]; |
shimniok | 0:a6a169de725f | 132 | r.b[2] = (msg->payload+sizeof(char)*10)[5]; |
shimniok | 0:a6a169de725f | 133 | r.b[1] = (msg->payload+sizeof(char)*10)[6]; |
shimniok | 0:a6a169de725f | 134 | r.b[0] = (msg->payload+sizeof(char)*10)[7]; |
shimniok | 0:a6a169de725f | 135 | return (uint64_t)r.ll; |
shimniok | 0:a6a169de725f | 136 | } |
shimniok | 0:a6a169de725f | 137 | |
shimniok | 0:a6a169de725f | 138 | /** |
shimniok | 0:a6a169de725f | 139 | * @brief Get field x from debug_vect message |
shimniok | 0:a6a169de725f | 140 | * |
shimniok | 0:a6a169de725f | 141 | * @return x |
shimniok | 0:a6a169de725f | 142 | */ |
shimniok | 0:a6a169de725f | 143 | static inline float mavlink_msg_debug_vect_get_x(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 144 | { |
shimniok | 0:a6a169de725f | 145 | generic_32bit r; |
shimniok | 0:a6a169de725f | 146 | r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[0]; |
shimniok | 0:a6a169de725f | 147 | r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[1]; |
shimniok | 0:a6a169de725f | 148 | r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[2]; |
shimniok | 0:a6a169de725f | 149 | r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[3]; |
shimniok | 0:a6a169de725f | 150 | return (float)r.f; |
shimniok | 0:a6a169de725f | 151 | } |
shimniok | 0:a6a169de725f | 152 | |
shimniok | 0:a6a169de725f | 153 | /** |
shimniok | 0:a6a169de725f | 154 | * @brief Get field y from debug_vect message |
shimniok | 0:a6a169de725f | 155 | * |
shimniok | 0:a6a169de725f | 156 | * @return y |
shimniok | 0:a6a169de725f | 157 | */ |
shimniok | 0:a6a169de725f | 158 | static inline float mavlink_msg_debug_vect_get_y(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 159 | { |
shimniok | 0:a6a169de725f | 160 | generic_32bit r; |
shimniok | 0:a6a169de725f | 161 | r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 162 | r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 163 | r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 164 | r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 165 | return (float)r.f; |
shimniok | 0:a6a169de725f | 166 | } |
shimniok | 0:a6a169de725f | 167 | |
shimniok | 0:a6a169de725f | 168 | /** |
shimniok | 0:a6a169de725f | 169 | * @brief Get field z from debug_vect message |
shimniok | 0:a6a169de725f | 170 | * |
shimniok | 0:a6a169de725f | 171 | * @return z |
shimniok | 0:a6a169de725f | 172 | */ |
shimniok | 0:a6a169de725f | 173 | static inline float mavlink_msg_debug_vect_get_z(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 174 | { |
shimniok | 0:a6a169de725f | 175 | generic_32bit r; |
shimniok | 0:a6a169de725f | 176 | r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 177 | r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 178 | r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 179 | r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 180 | return (float)r.f; |
shimniok | 0:a6a169de725f | 181 | } |
shimniok | 0:a6a169de725f | 182 | |
shimniok | 0:a6a169de725f | 183 | /** |
shimniok | 0:a6a169de725f | 184 | * @brief Decode a debug_vect message into a struct |
shimniok | 0:a6a169de725f | 185 | * |
shimniok | 0:a6a169de725f | 186 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 187 | * @param debug_vect C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 188 | */ |
shimniok | 0:a6a169de725f | 189 | static inline void mavlink_msg_debug_vect_decode(const mavlink_message_t* msg, mavlink_debug_vect_t* debug_vect) |
shimniok | 0:a6a169de725f | 190 | { |
shimniok | 0:a6a169de725f | 191 | mavlink_msg_debug_vect_get_name(msg, debug_vect->name); |
shimniok | 0:a6a169de725f | 192 | debug_vect->usec = mavlink_msg_debug_vect_get_usec(msg); |
shimniok | 0:a6a169de725f | 193 | debug_vect->x = mavlink_msg_debug_vect_get_x(msg); |
shimniok | 0:a6a169de725f | 194 | debug_vect->y = mavlink_msg_debug_vect_get_y(msg); |
shimniok | 0:a6a169de725f | 195 | debug_vect->z = mavlink_msg_debug_vect_get_z(msg); |
shimniok | 0:a6a169de725f | 196 | } |