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_heartbeat.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 HEARTBEAT PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_HEARTBEAT 0 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_heartbeat_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
shimniok | 0:a6a169de725f | 8 | uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM |
shimniok | 0:a6a169de725f | 9 | uint8_t mavlink_version; ///< MAVLink version |
shimniok | 0:a6a169de725f | 10 | |
shimniok | 0:a6a169de725f | 11 | } mavlink_heartbeat_t; |
shimniok | 0:a6a169de725f | 12 | |
shimniok | 0:a6a169de725f | 13 | |
shimniok | 0:a6a169de725f | 14 | |
shimniok | 0:a6a169de725f | 15 | /** |
shimniok | 0:a6a169de725f | 16 | * @brief Pack a heartbeat message |
shimniok | 0:a6a169de725f | 17 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 18 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 19 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 20 | * |
shimniok | 0:a6a169de725f | 21 | * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
shimniok | 0:a6a169de725f | 22 | * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM |
shimniok | 0:a6a169de725f | 23 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 24 | */ |
shimniok | 0:a6a169de725f | 25 | static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot) |
shimniok | 0:a6a169de725f | 26 | { |
shimniok | 0:a6a169de725f | 27 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 28 | msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; |
shimniok | 0:a6a169de725f | 29 | |
shimniok | 0:a6a169de725f | 30 | i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
shimniok | 0:a6a169de725f | 31 | i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM |
shimniok | 0:a6a169de725f | 32 | i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version |
shimniok | 0:a6a169de725f | 33 | |
shimniok | 0:a6a169de725f | 34 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 35 | } |
shimniok | 0:a6a169de725f | 36 | |
shimniok | 0:a6a169de725f | 37 | /** |
shimniok | 0:a6a169de725f | 38 | * @brief Pack a heartbeat message |
shimniok | 0:a6a169de725f | 39 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 40 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 41 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 42 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 43 | * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
shimniok | 0:a6a169de725f | 44 | * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM |
shimniok | 0:a6a169de725f | 45 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 46 | */ |
shimniok | 0:a6a169de725f | 47 | static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint8_t autopilot) |
shimniok | 0:a6a169de725f | 48 | { |
shimniok | 0:a6a169de725f | 49 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 50 | msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; |
shimniok | 0:a6a169de725f | 51 | |
shimniok | 0:a6a169de725f | 52 | i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
shimniok | 0:a6a169de725f | 53 | i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM |
shimniok | 0:a6a169de725f | 54 | i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version |
shimniok | 0:a6a169de725f | 55 | |
shimniok | 0:a6a169de725f | 56 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:a6a169de725f | 57 | } |
shimniok | 0:a6a169de725f | 58 | |
shimniok | 0:a6a169de725f | 59 | /** |
shimniok | 0:a6a169de725f | 60 | * @brief Encode a heartbeat struct into a message |
shimniok | 0:a6a169de725f | 61 | * |
shimniok | 0:a6a169de725f | 62 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 63 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 64 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 65 | * @param heartbeat C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 66 | */ |
shimniok | 0:a6a169de725f | 67 | static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat) |
shimniok | 0:a6a169de725f | 68 | { |
shimniok | 0:a6a169de725f | 69 | return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot); |
shimniok | 0:a6a169de725f | 70 | } |
shimniok | 0:a6a169de725f | 71 | |
shimniok | 0:a6a169de725f | 72 | /** |
shimniok | 0:a6a169de725f | 73 | * @brief Send a heartbeat message |
shimniok | 0:a6a169de725f | 74 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 75 | * |
shimniok | 0:a6a169de725f | 76 | * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
shimniok | 0:a6a169de725f | 77 | * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM |
shimniok | 0:a6a169de725f | 78 | */ |
shimniok | 0:a6a169de725f | 79 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 80 | |
shimniok | 0:a6a169de725f | 81 | static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot) |
shimniok | 0:a6a169de725f | 82 | { |
shimniok | 0:a6a169de725f | 83 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 84 | mavlink_msg_heartbeat_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, autopilot); |
shimniok | 0:a6a169de725f | 85 | mavlink_send_uart(chan, &msg); |
shimniok | 0:a6a169de725f | 86 | } |
shimniok | 0:a6a169de725f | 87 | |
shimniok | 0:a6a169de725f | 88 | #endif |
shimniok | 0:a6a169de725f | 89 | // MESSAGE HEARTBEAT UNPACKING |
shimniok | 0:a6a169de725f | 90 | |
shimniok | 0:a6a169de725f | 91 | /** |
shimniok | 0:a6a169de725f | 92 | * @brief Get field type from heartbeat message |
shimniok | 0:a6a169de725f | 93 | * |
shimniok | 0:a6a169de725f | 94 | * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
shimniok | 0:a6a169de725f | 95 | */ |
shimniok | 0:a6a169de725f | 96 | static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 97 | { |
shimniok | 0:a6a169de725f | 98 | return (uint8_t)(msg->payload)[0]; |
shimniok | 0:a6a169de725f | 99 | } |
shimniok | 0:a6a169de725f | 100 | |
shimniok | 0:a6a169de725f | 101 | /** |
shimniok | 0:a6a169de725f | 102 | * @brief Get field autopilot from heartbeat message |
shimniok | 0:a6a169de725f | 103 | * |
shimniok | 0:a6a169de725f | 104 | * @return Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM |
shimniok | 0:a6a169de725f | 105 | */ |
shimniok | 0:a6a169de725f | 106 | static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 107 | { |
shimniok | 0:a6a169de725f | 108 | return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 109 | } |
shimniok | 0:a6a169de725f | 110 | |
shimniok | 0:a6a169de725f | 111 | /** |
shimniok | 0:a6a169de725f | 112 | * @brief Get field mavlink_version from heartbeat message |
shimniok | 0:a6a169de725f | 113 | * |
shimniok | 0:a6a169de725f | 114 | * @return MAVLink version |
shimniok | 0:a6a169de725f | 115 | */ |
shimniok | 0:a6a169de725f | 116 | static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 117 | { |
shimniok | 0:a6a169de725f | 118 | return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 119 | } |
shimniok | 0:a6a169de725f | 120 | |
shimniok | 0:a6a169de725f | 121 | /** |
shimniok | 0:a6a169de725f | 122 | * @brief Decode a heartbeat message into a struct |
shimniok | 0:a6a169de725f | 123 | * |
shimniok | 0:a6a169de725f | 124 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 125 | * @param heartbeat C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 126 | */ |
shimniok | 0:a6a169de725f | 127 | static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat) |
shimniok | 0:a6a169de725f | 128 | { |
shimniok | 0:a6a169de725f | 129 | heartbeat->type = mavlink_msg_heartbeat_get_type(msg); |
shimniok | 0:a6a169de725f | 130 | heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg); |
shimniok | 0:a6a169de725f | 131 | heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg); |
shimniok | 0:a6a169de725f | 132 | } |