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_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?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:a6a169de725f | 1 | // MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT 57 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_roll_pitch_yaw_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; ///< Desired roll angle in radians |
shimniok | 0:a6a169de725f | 9 | float pitch; ///< Desired pitch angle in radians |
shimniok | 0:a6a169de725f | 10 | float yaw; ///< Desired yaw angle in radians |
shimniok | 0:a6a169de725f | 11 | float thrust; ///< Collective thrust, normalized to 0 .. 1 |
shimniok | 0:a6a169de725f | 12 | |
shimniok | 0:a6a169de725f | 13 | } mavlink_roll_pitch_yaw_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_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 Desired roll angle in radians |
shimniok | 0:a6a169de725f | 25 | * @param pitch Desired pitch angle in radians |
shimniok | 0:a6a169de725f | 26 | * @param yaw Desired yaw angle in radians |
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_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, float roll, float pitch, float yaw, 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_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, i, msg->payload); // Desired roll angle in radians |
shimniok | 0:a6a169de725f | 37 | i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians |
shimniok | 0:a6a169de725f | 38 | i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians |
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_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 Desired roll angle in radians |
shimniok | 0:a6a169de725f | 52 | * @param pitch Desired pitch angle in radians |
shimniok | 0:a6a169de725f | 53 | * @param yaw Desired yaw angle in radians |
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_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, float pitch, float yaw, 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_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, i, msg->payload); // Desired roll angle in radians |
shimniok | 0:a6a169de725f | 64 | i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians |
shimniok | 0:a6a169de725f | 65 | i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians |
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_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_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_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint) |
shimniok | 0:a6a169de725f | 80 | { |
shimniok | 0:a6a169de725f | 81 | return mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_thrust_setpoint->time_us, roll_pitch_yaw_thrust_setpoint->roll, roll_pitch_yaw_thrust_setpoint->pitch, roll_pitch_yaw_thrust_setpoint->yaw, roll_pitch_yaw_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_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 Desired roll angle in radians |
shimniok | 0:a6a169de725f | 90 | * @param pitch Desired pitch angle in radians |
shimniok | 0:a6a169de725f | 91 | * @param yaw Desired yaw angle in radians |
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_thrust_setpoint_send(mavlink_channel_t chan, uint64_t time_us, float roll, float pitch, float yaw, float thrust) |
shimniok | 0:a6a169de725f | 97 | { |
shimniok | 0:a6a169de725f | 98 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 99 | mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_us, roll, pitch, yaw, 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_THRUST_SETPOINT UNPACKING |
shimniok | 0:a6a169de725f | 105 | |
shimniok | 0:a6a169de725f | 106 | /** |
shimniok | 0:a6a169de725f | 107 | * @brief Get field time_us from roll_pitch_yaw_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_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 from roll_pitch_yaw_thrust_setpoint message |
shimniok | 0:a6a169de725f | 127 | * |
shimniok | 0:a6a169de725f | 128 | * @return Desired roll angle in radians |
shimniok | 0:a6a169de725f | 129 | */ |
shimniok | 0:a6a169de725f | 130 | static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(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 from roll_pitch_yaw_thrust_setpoint message |
shimniok | 0:a6a169de725f | 142 | * |
shimniok | 0:a6a169de725f | 143 | * @return Desired pitch angle in radians |
shimniok | 0:a6a169de725f | 144 | */ |
shimniok | 0:a6a169de725f | 145 | static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(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 from roll_pitch_yaw_thrust_setpoint message |
shimniok | 0:a6a169de725f | 157 | * |
shimniok | 0:a6a169de725f | 158 | * @return Desired yaw angle in radians |
shimniok | 0:a6a169de725f | 159 | */ |
shimniok | 0:a6a169de725f | 160 | static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(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_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_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_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_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_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint) |
shimniok | 0:a6a169de725f | 192 | { |
shimniok | 0:a6a169de725f | 193 | roll_pitch_yaw_thrust_setpoint->time_us = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_us(msg); |
shimniok | 0:a6a169de725f | 194 | roll_pitch_yaw_thrust_setpoint->roll = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(msg); |
shimniok | 0:a6a169de725f | 195 | roll_pitch_yaw_thrust_setpoint->pitch = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(msg); |
shimniok | 0:a6a169de725f | 196 | roll_pitch_yaw_thrust_setpoint->yaw = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(msg); |
shimniok | 0:a6a169de725f | 197 | roll_pitch_yaw_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(msg); |
shimniok | 0:a6a169de725f | 198 | } |