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/common/mavlink_msg_nav_controller_output.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?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 // MESSAGE NAV_CONTROLLER_OUTPUT PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_nav_controller_output_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 float nav_roll; ///< Current desired roll in degrees
shimniok 0:a6a169de725f 8 float nav_pitch; ///< Current desired pitch in degrees
shimniok 0:a6a169de725f 9 int16_t nav_bearing; ///< Current desired heading in degrees
shimniok 0:a6a169de725f 10 int16_t target_bearing; ///< Bearing to current waypoint/target in degrees
shimniok 0:a6a169de725f 11 uint16_t wp_dist; ///< Distance to active waypoint in meters
shimniok 0:a6a169de725f 12 float alt_error; ///< Current altitude error in meters
shimniok 0:a6a169de725f 13 float aspd_error; ///< Current airspeed error in meters/second
shimniok 0:a6a169de725f 14 float xtrack_error; ///< Current crosstrack error on x-y plane in meters
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16 } mavlink_nav_controller_output_t;
shimniok 0:a6a169de725f 17
shimniok 0:a6a169de725f 18
shimniok 0:a6a169de725f 19
shimniok 0:a6a169de725f 20 /**
shimniok 0:a6a169de725f 21 * @brief Pack a nav_controller_output message
shimniok 0:a6a169de725f 22 * @param system_id ID of this system
shimniok 0:a6a169de725f 23 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 24 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 25 *
shimniok 0:a6a169de725f 26 * @param nav_roll Current desired roll in degrees
shimniok 0:a6a169de725f 27 * @param nav_pitch Current desired pitch in degrees
shimniok 0:a6a169de725f 28 * @param nav_bearing Current desired heading in degrees
shimniok 0:a6a169de725f 29 * @param target_bearing Bearing to current waypoint/target in degrees
shimniok 0:a6a169de725f 30 * @param wp_dist Distance to active waypoint in meters
shimniok 0:a6a169de725f 31 * @param alt_error Current altitude error in meters
shimniok 0:a6a169de725f 32 * @param aspd_error Current airspeed error in meters/second
shimniok 0:a6a169de725f 33 * @param xtrack_error Current crosstrack error on x-y plane in meters
shimniok 0:a6a169de725f 34 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 35 */
shimniok 0:a6a169de725f 36 static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
shimniok 0:a6a169de725f 37 {
shimniok 0:a6a169de725f 38 uint16_t i = 0;
shimniok 0:a6a169de725f 39 msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
shimniok 0:a6a169de725f 40
shimniok 0:a6a169de725f 41 i += put_float_by_index(nav_roll, i, msg->payload); // Current desired roll in degrees
shimniok 0:a6a169de725f 42 i += put_float_by_index(nav_pitch, i, msg->payload); // Current desired pitch in degrees
shimniok 0:a6a169de725f 43 i += put_int16_t_by_index(nav_bearing, i, msg->payload); // Current desired heading in degrees
shimniok 0:a6a169de725f 44 i += put_int16_t_by_index(target_bearing, i, msg->payload); // Bearing to current waypoint/target in degrees
shimniok 0:a6a169de725f 45 i += put_uint16_t_by_index(wp_dist, i, msg->payload); // Distance to active waypoint in meters
shimniok 0:a6a169de725f 46 i += put_float_by_index(alt_error, i, msg->payload); // Current altitude error in meters
shimniok 0:a6a169de725f 47 i += put_float_by_index(aspd_error, i, msg->payload); // Current airspeed error in meters/second
shimniok 0:a6a169de725f 48 i += put_float_by_index(xtrack_error, i, msg->payload); // Current crosstrack error on x-y plane in meters
shimniok 0:a6a169de725f 49
shimniok 0:a6a169de725f 50 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 51 }
shimniok 0:a6a169de725f 52
shimniok 0:a6a169de725f 53 /**
shimniok 0:a6a169de725f 54 * @brief Pack a nav_controller_output message
shimniok 0:a6a169de725f 55 * @param system_id ID of this system
shimniok 0:a6a169de725f 56 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 57 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 58 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 59 * @param nav_roll Current desired roll in degrees
shimniok 0:a6a169de725f 60 * @param nav_pitch Current desired pitch in degrees
shimniok 0:a6a169de725f 61 * @param nav_bearing Current desired heading in degrees
shimniok 0:a6a169de725f 62 * @param target_bearing Bearing to current waypoint/target in degrees
shimniok 0:a6a169de725f 63 * @param wp_dist Distance to active waypoint in meters
shimniok 0:a6a169de725f 64 * @param alt_error Current altitude error in meters
shimniok 0:a6a169de725f 65 * @param aspd_error Current airspeed error in meters/second
shimniok 0:a6a169de725f 66 * @param xtrack_error Current crosstrack error on x-y plane in meters
shimniok 0:a6a169de725f 67 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 68 */
shimniok 0:a6a169de725f 69 static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
shimniok 0:a6a169de725f 70 {
shimniok 0:a6a169de725f 71 uint16_t i = 0;
shimniok 0:a6a169de725f 72 msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
shimniok 0:a6a169de725f 73
shimniok 0:a6a169de725f 74 i += put_float_by_index(nav_roll, i, msg->payload); // Current desired roll in degrees
shimniok 0:a6a169de725f 75 i += put_float_by_index(nav_pitch, i, msg->payload); // Current desired pitch in degrees
shimniok 0:a6a169de725f 76 i += put_int16_t_by_index(nav_bearing, i, msg->payload); // Current desired heading in degrees
shimniok 0:a6a169de725f 77 i += put_int16_t_by_index(target_bearing, i, msg->payload); // Bearing to current waypoint/target in degrees
shimniok 0:a6a169de725f 78 i += put_uint16_t_by_index(wp_dist, i, msg->payload); // Distance to active waypoint in meters
shimniok 0:a6a169de725f 79 i += put_float_by_index(alt_error, i, msg->payload); // Current altitude error in meters
shimniok 0:a6a169de725f 80 i += put_float_by_index(aspd_error, i, msg->payload); // Current airspeed error in meters/second
shimniok 0:a6a169de725f 81 i += put_float_by_index(xtrack_error, i, msg->payload); // Current crosstrack error on x-y plane in meters
shimniok 0:a6a169de725f 82
shimniok 0:a6a169de725f 83 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 84 }
shimniok 0:a6a169de725f 85
shimniok 0:a6a169de725f 86 /**
shimniok 0:a6a169de725f 87 * @brief Encode a nav_controller_output struct into a message
shimniok 0:a6a169de725f 88 *
shimniok 0:a6a169de725f 89 * @param system_id ID of this system
shimniok 0:a6a169de725f 90 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 91 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 92 * @param nav_controller_output C-struct to read the message contents from
shimniok 0:a6a169de725f 93 */
shimniok 0:a6a169de725f 94 static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output)
shimniok 0:a6a169de725f 95 {
shimniok 0:a6a169de725f 96 return mavlink_msg_nav_controller_output_pack(system_id, component_id, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
shimniok 0:a6a169de725f 97 }
shimniok 0:a6a169de725f 98
shimniok 0:a6a169de725f 99 /**
shimniok 0:a6a169de725f 100 * @brief Send a nav_controller_output message
shimniok 0:a6a169de725f 101 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 102 *
shimniok 0:a6a169de725f 103 * @param nav_roll Current desired roll in degrees
shimniok 0:a6a169de725f 104 * @param nav_pitch Current desired pitch in degrees
shimniok 0:a6a169de725f 105 * @param nav_bearing Current desired heading in degrees
shimniok 0:a6a169de725f 106 * @param target_bearing Bearing to current waypoint/target in degrees
shimniok 0:a6a169de725f 107 * @param wp_dist Distance to active waypoint in meters
shimniok 0:a6a169de725f 108 * @param alt_error Current altitude error in meters
shimniok 0:a6a169de725f 109 * @param aspd_error Current airspeed error in meters/second
shimniok 0:a6a169de725f 110 * @param xtrack_error Current crosstrack error on x-y plane in meters
shimniok 0:a6a169de725f 111 */
shimniok 0:a6a169de725f 112 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 113
shimniok 0:a6a169de725f 114 static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
shimniok 0:a6a169de725f 115 {
shimniok 0:a6a169de725f 116 mavlink_message_t msg;
shimniok 0:a6a169de725f 117 mavlink_msg_nav_controller_output_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error);
shimniok 0:a6a169de725f 118 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 119 }
shimniok 0:a6a169de725f 120
shimniok 0:a6a169de725f 121 #endif
shimniok 0:a6a169de725f 122 // MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING
shimniok 0:a6a169de725f 123
shimniok 0:a6a169de725f 124 /**
shimniok 0:a6a169de725f 125 * @brief Get field nav_roll from nav_controller_output message
shimniok 0:a6a169de725f 126 *
shimniok 0:a6a169de725f 127 * @return Current desired roll in degrees
shimniok 0:a6a169de725f 128 */
shimniok 0:a6a169de725f 129 static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 130 {
shimniok 0:a6a169de725f 131 generic_32bit r;
shimniok 0:a6a169de725f 132 r.b[3] = (msg->payload)[0];
shimniok 0:a6a169de725f 133 r.b[2] = (msg->payload)[1];
shimniok 0:a6a169de725f 134 r.b[1] = (msg->payload)[2];
shimniok 0:a6a169de725f 135 r.b[0] = (msg->payload)[3];
shimniok 0:a6a169de725f 136 return (float)r.f;
shimniok 0:a6a169de725f 137 }
shimniok 0:a6a169de725f 138
shimniok 0:a6a169de725f 139 /**
shimniok 0:a6a169de725f 140 * @brief Get field nav_pitch from nav_controller_output message
shimniok 0:a6a169de725f 141 *
shimniok 0:a6a169de725f 142 * @return Current desired pitch in degrees
shimniok 0:a6a169de725f 143 */
shimniok 0:a6a169de725f 144 static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 145 {
shimniok 0:a6a169de725f 146 generic_32bit r;
shimniok 0:a6a169de725f 147 r.b[3] = (msg->payload+sizeof(float))[0];
shimniok 0:a6a169de725f 148 r.b[2] = (msg->payload+sizeof(float))[1];
shimniok 0:a6a169de725f 149 r.b[1] = (msg->payload+sizeof(float))[2];
shimniok 0:a6a169de725f 150 r.b[0] = (msg->payload+sizeof(float))[3];
shimniok 0:a6a169de725f 151 return (float)r.f;
shimniok 0:a6a169de725f 152 }
shimniok 0:a6a169de725f 153
shimniok 0:a6a169de725f 154 /**
shimniok 0:a6a169de725f 155 * @brief Get field nav_bearing from nav_controller_output message
shimniok 0:a6a169de725f 156 *
shimniok 0:a6a169de725f 157 * @return Current desired heading in degrees
shimniok 0:a6a169de725f 158 */
shimniok 0:a6a169de725f 159 static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 160 {
shimniok 0:a6a169de725f 161 generic_16bit r;
shimniok 0:a6a169de725f 162 r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 163 r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 164 return (int16_t)r.s;
shimniok 0:a6a169de725f 165 }
shimniok 0:a6a169de725f 166
shimniok 0:a6a169de725f 167 /**
shimniok 0:a6a169de725f 168 * @brief Get field target_bearing from nav_controller_output message
shimniok 0:a6a169de725f 169 *
shimniok 0:a6a169de725f 170 * @return Bearing to current waypoint/target in degrees
shimniok 0:a6a169de725f 171 */
shimniok 0:a6a169de725f 172 static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 173 {
shimniok 0:a6a169de725f 174 generic_16bit r;
shimniok 0:a6a169de725f 175 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[0];
shimniok 0:a6a169de725f 176 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[1];
shimniok 0:a6a169de725f 177 return (int16_t)r.s;
shimniok 0:a6a169de725f 178 }
shimniok 0:a6a169de725f 179
shimniok 0:a6a169de725f 180 /**
shimniok 0:a6a169de725f 181 * @brief Get field wp_dist from nav_controller_output message
shimniok 0:a6a169de725f 182 *
shimniok 0:a6a169de725f 183 * @return Distance to active waypoint in meters
shimniok 0:a6a169de725f 184 */
shimniok 0:a6a169de725f 185 static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 186 {
shimniok 0:a6a169de725f 187 generic_16bit r;
shimniok 0:a6a169de725f 188 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:a6a169de725f 189 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:a6a169de725f 190 return (uint16_t)r.s;
shimniok 0:a6a169de725f 191 }
shimniok 0:a6a169de725f 192
shimniok 0:a6a169de725f 193 /**
shimniok 0:a6a169de725f 194 * @brief Get field alt_error from nav_controller_output message
shimniok 0:a6a169de725f 195 *
shimniok 0:a6a169de725f 196 * @return Current altitude error in meters
shimniok 0:a6a169de725f 197 */
shimniok 0:a6a169de725f 198 static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 199 {
shimniok 0:a6a169de725f 200 generic_32bit r;
shimniok 0:a6a169de725f 201 r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 202 r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 203 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[2];
shimniok 0:a6a169de725f 204 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[3];
shimniok 0:a6a169de725f 205 return (float)r.f;
shimniok 0:a6a169de725f 206 }
shimniok 0:a6a169de725f 207
shimniok 0:a6a169de725f 208 /**
shimniok 0:a6a169de725f 209 * @brief Get field aspd_error from nav_controller_output message
shimniok 0:a6a169de725f 210 *
shimniok 0:a6a169de725f 211 * @return Current airspeed error in meters/second
shimniok 0:a6a169de725f 212 */
shimniok 0:a6a169de725f 213 static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 214 {
shimniok 0:a6a169de725f 215 generic_32bit r;
shimniok 0:a6a169de725f 216 r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[0];
shimniok 0:a6a169de725f 217 r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[1];
shimniok 0:a6a169de725f 218 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[2];
shimniok 0:a6a169de725f 219 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[3];
shimniok 0:a6a169de725f 220 return (float)r.f;
shimniok 0:a6a169de725f 221 }
shimniok 0:a6a169de725f 222
shimniok 0:a6a169de725f 223 /**
shimniok 0:a6a169de725f 224 * @brief Get field xtrack_error from nav_controller_output message
shimniok 0:a6a169de725f 225 *
shimniok 0:a6a169de725f 226 * @return Current crosstrack error on x-y plane in meters
shimniok 0:a6a169de725f 227 */
shimniok 0:a6a169de725f 228 static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 229 {
shimniok 0:a6a169de725f 230 generic_32bit r;
shimniok 0:a6a169de725f 231 r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 232 r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 233 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 234 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 235 return (float)r.f;
shimniok 0:a6a169de725f 236 }
shimniok 0:a6a169de725f 237
shimniok 0:a6a169de725f 238 /**
shimniok 0:a6a169de725f 239 * @brief Decode a nav_controller_output message into a struct
shimniok 0:a6a169de725f 240 *
shimniok 0:a6a169de725f 241 * @param msg The message to decode
shimniok 0:a6a169de725f 242 * @param nav_controller_output C-struct to decode the message contents into
shimniok 0:a6a169de725f 243 */
shimniok 0:a6a169de725f 244 static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t* msg, mavlink_nav_controller_output_t* nav_controller_output)
shimniok 0:a6a169de725f 245 {
shimniok 0:a6a169de725f 246 nav_controller_output->nav_roll = mavlink_msg_nav_controller_output_get_nav_roll(msg);
shimniok 0:a6a169de725f 247 nav_controller_output->nav_pitch = mavlink_msg_nav_controller_output_get_nav_pitch(msg);
shimniok 0:a6a169de725f 248 nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg);
shimniok 0:a6a169de725f 249 nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg);
shimniok 0:a6a169de725f 250 nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg);
shimniok 0:a6a169de725f 251 nav_controller_output->alt_error = mavlink_msg_nav_controller_output_get_alt_error(msg);
shimniok 0:a6a169de725f 252 nav_controller_output->aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(msg);
shimniok 0:a6a169de725f 253 nav_controller_output->xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(msg);
shimniok 0:a6a169de725f 254 }