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_roll_pitch_yaw_speed_thrust_setpoint.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 ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT 58
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint64_t time_us; ///< Timestamp in micro seconds since unix epoch
shimniok 0:a6a169de725f 8 float roll_speed; ///< Desired roll angular speed in rad/s
shimniok 0:a6a169de725f 9 float pitch_speed; ///< Desired pitch angular speed in rad/s
shimniok 0:a6a169de725f 10 float yaw_speed; ///< Desired yaw angular speed in rad/s
shimniok 0:a6a169de725f 11 float thrust; ///< Collective thrust, normalized to 0 .. 1
shimniok 0:a6a169de725f 12
shimniok 0:a6a169de725f 13 } mavlink_roll_pitch_yaw_speed_thrust_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 roll_pitch_yaw_speed_thrust_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 time_us Timestamp in micro seconds since unix epoch
shimniok 0:a6a169de725f 24 * @param roll_speed Desired roll angular speed in rad/s
shimniok 0:a6a169de725f 25 * @param pitch_speed Desired pitch angular speed in rad/s
shimniok 0:a6a169de725f 26 * @param yaw_speed Desired yaw angular speed in rad/s
shimniok 0:a6a169de725f 27 * @param thrust Collective thrust, normalized to 0 .. 1
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_roll_pitch_yaw_speed_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
shimniok 0:a6a169de725f 31 {
shimniok 0:a6a169de725f 32 uint16_t i = 0;
shimniok 0:a6a169de725f 33 msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
shimniok 0:a6a169de725f 34
shimniok 0:a6a169de725f 35 i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp in micro seconds since unix epoch
shimniok 0:a6a169de725f 36 i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s
shimniok 0:a6a169de725f 37 i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s
shimniok 0:a6a169de725f 38 i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s
shimniok 0:a6a169de725f 39 i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
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 roll_pitch_yaw_speed_thrust_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 time_us Timestamp in micro seconds since unix epoch
shimniok 0:a6a169de725f 51 * @param roll_speed Desired roll angular speed in rad/s
shimniok 0:a6a169de725f 52 * @param pitch_speed Desired pitch angular speed in rad/s
shimniok 0:a6a169de725f 53 * @param yaw_speed Desired yaw angular speed in rad/s
shimniok 0:a6a169de725f 54 * @param thrust Collective thrust, normalized to 0 .. 1
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_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
shimniok 0:a6a169de725f 58 {
shimniok 0:a6a169de725f 59 uint16_t i = 0;
shimniok 0:a6a169de725f 60 msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
shimniok 0:a6a169de725f 61
shimniok 0:a6a169de725f 62 i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp in micro seconds since unix epoch
shimniok 0:a6a169de725f 63 i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s
shimniok 0:a6a169de725f 64 i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s
shimniok 0:a6a169de725f 65 i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s
shimniok 0:a6a169de725f 66 i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
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 roll_pitch_yaw_speed_thrust_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 roll_pitch_yaw_speed_thrust_setpoint C-struct to read the message contents from
shimniok 0:a6a169de725f 78 */
shimniok 0:a6a169de725f 79 static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
shimniok 0:a6a169de725f 80 {
shimniok 0:a6a169de725f 81 return mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_speed_thrust_setpoint->time_us, roll_pitch_yaw_speed_thrust_setpoint->roll_speed, roll_pitch_yaw_speed_thrust_setpoint->pitch_speed, roll_pitch_yaw_speed_thrust_setpoint->yaw_speed, roll_pitch_yaw_speed_thrust_setpoint->thrust);
shimniok 0:a6a169de725f 82 }
shimniok 0:a6a169de725f 83
shimniok 0:a6a169de725f 84 /**
shimniok 0:a6a169de725f 85 * @brief Send a roll_pitch_yaw_speed_thrust_setpoint message
shimniok 0:a6a169de725f 86 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 87 *
shimniok 0:a6a169de725f 88 * @param time_us Timestamp in micro seconds since unix epoch
shimniok 0:a6a169de725f 89 * @param roll_speed Desired roll angular speed in rad/s
shimniok 0:a6a169de725f 90 * @param pitch_speed Desired pitch angular speed in rad/s
shimniok 0:a6a169de725f 91 * @param yaw_speed Desired yaw angular speed in rad/s
shimniok 0:a6a169de725f 92 * @param thrust Collective thrust, normalized to 0 .. 1
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_roll_pitch_yaw_speed_thrust_setpoint_send(mavlink_channel_t chan, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
shimniok 0:a6a169de725f 97 {
shimniok 0:a6a169de725f 98 mavlink_message_t msg;
shimniok 0:a6a169de725f 99 mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_us, roll_speed, pitch_speed, yaw_speed, thrust);
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 ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT UNPACKING
shimniok 0:a6a169de725f 105
shimniok 0:a6a169de725f 106 /**
shimniok 0:a6a169de725f 107 * @brief Get field time_us from roll_pitch_yaw_speed_thrust_setpoint message
shimniok 0:a6a169de725f 108 *
shimniok 0:a6a169de725f 109 * @return Timestamp in micro seconds since unix epoch
shimniok 0:a6a169de725f 110 */
shimniok 0:a6a169de725f 111 static inline uint64_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_us(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 112 {
shimniok 0:a6a169de725f 113 generic_64bit r;
shimniok 0:a6a169de725f 114 r.b[7] = (msg->payload)[0];
shimniok 0:a6a169de725f 115 r.b[6] = (msg->payload)[1];
shimniok 0:a6a169de725f 116 r.b[5] = (msg->payload)[2];
shimniok 0:a6a169de725f 117 r.b[4] = (msg->payload)[3];
shimniok 0:a6a169de725f 118 r.b[3] = (msg->payload)[4];
shimniok 0:a6a169de725f 119 r.b[2] = (msg->payload)[5];
shimniok 0:a6a169de725f 120 r.b[1] = (msg->payload)[6];
shimniok 0:a6a169de725f 121 r.b[0] = (msg->payload)[7];
shimniok 0:a6a169de725f 122 return (uint64_t)r.ll;
shimniok 0:a6a169de725f 123 }
shimniok 0:a6a169de725f 124
shimniok 0:a6a169de725f 125 /**
shimniok 0:a6a169de725f 126 * @brief Get field roll_speed from roll_pitch_yaw_speed_thrust_setpoint message
shimniok 0:a6a169de725f 127 *
shimniok 0:a6a169de725f 128 * @return Desired roll angular speed in rad/s
shimniok 0:a6a169de725f 129 */
shimniok 0:a6a169de725f 130 static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 131 {
shimniok 0:a6a169de725f 132 generic_32bit r;
shimniok 0:a6a169de725f 133 r.b[3] = (msg->payload+sizeof(uint64_t))[0];
shimniok 0:a6a169de725f 134 r.b[2] = (msg->payload+sizeof(uint64_t))[1];
shimniok 0:a6a169de725f 135 r.b[1] = (msg->payload+sizeof(uint64_t))[2];
shimniok 0:a6a169de725f 136 r.b[0] = (msg->payload+sizeof(uint64_t))[3];
shimniok 0:a6a169de725f 137 return (float)r.f;
shimniok 0:a6a169de725f 138 }
shimniok 0:a6a169de725f 139
shimniok 0:a6a169de725f 140 /**
shimniok 0:a6a169de725f 141 * @brief Get field pitch_speed from roll_pitch_yaw_speed_thrust_setpoint message
shimniok 0:a6a169de725f 142 *
shimniok 0:a6a169de725f 143 * @return Desired pitch angular speed in rad/s
shimniok 0:a6a169de725f 144 */
shimniok 0:a6a169de725f 145 static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 146 {
shimniok 0:a6a169de725f 147 generic_32bit r;
shimniok 0:a6a169de725f 148 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
shimniok 0:a6a169de725f 149 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
shimniok 0:a6a169de725f 150 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
shimniok 0:a6a169de725f 151 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
shimniok 0:a6a169de725f 152 return (float)r.f;
shimniok 0:a6a169de725f 153 }
shimniok 0:a6a169de725f 154
shimniok 0:a6a169de725f 155 /**
shimniok 0:a6a169de725f 156 * @brief Get field yaw_speed from roll_pitch_yaw_speed_thrust_setpoint message
shimniok 0:a6a169de725f 157 *
shimniok 0:a6a169de725f 158 * @return Desired yaw angular speed in rad/s
shimniok 0:a6a169de725f 159 */
shimniok 0:a6a169de725f 160 static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 161 {
shimniok 0:a6a169de725f 162 generic_32bit r;
shimniok 0:a6a169de725f 163 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 164 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 165 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 166 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 167 return (float)r.f;
shimniok 0:a6a169de725f 168 }
shimniok 0:a6a169de725f 169
shimniok 0:a6a169de725f 170 /**
shimniok 0:a6a169de725f 171 * @brief Get field thrust from roll_pitch_yaw_speed_thrust_setpoint message
shimniok 0:a6a169de725f 172 *
shimniok 0:a6a169de725f 173 * @return Collective thrust, normalized to 0 .. 1
shimniok 0:a6a169de725f 174 */
shimniok 0:a6a169de725f 175 static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 176 {
shimniok 0:a6a169de725f 177 generic_32bit r;
shimniok 0:a6a169de725f 178 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 179 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 180 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 181 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 182 return (float)r.f;
shimniok 0:a6a169de725f 183 }
shimniok 0:a6a169de725f 184
shimniok 0:a6a169de725f 185 /**
shimniok 0:a6a169de725f 186 * @brief Decode a roll_pitch_yaw_speed_thrust_setpoint message into a struct
shimniok 0:a6a169de725f 187 *
shimniok 0:a6a169de725f 188 * @param msg The message to decode
shimniok 0:a6a169de725f 189 * @param roll_pitch_yaw_speed_thrust_setpoint C-struct to decode the message contents into
shimniok 0:a6a169de725f 190 */
shimniok 0:a6a169de725f 191 static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
shimniok 0:a6a169de725f 192 {
shimniok 0:a6a169de725f 193 roll_pitch_yaw_speed_thrust_setpoint->time_us = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_us(msg);
shimniok 0:a6a169de725f 194 roll_pitch_yaw_speed_thrust_setpoint->roll_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(msg);
shimniok 0:a6a169de725f 195 roll_pitch_yaw_speed_thrust_setpoint->pitch_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(msg);
shimniok 0:a6a169de725f 196 roll_pitch_yaw_speed_thrust_setpoint->yaw_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(msg);
shimniok 0:a6a169de725f 197 roll_pitch_yaw_speed_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(msg);
shimniok 0:a6a169de725f 198 }