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_waypoint_ack.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 WAYPOINT_ACK PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_WAYPOINT_ACK 47
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_waypoint_ack_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint8_t target_system; ///< System ID
shimniok 0:a6a169de725f 8 uint8_t target_component; ///< Component ID
shimniok 0:a6a169de725f 9 uint8_t type; ///< 0: OK, 1: Error
shimniok 0:a6a169de725f 10
shimniok 0:a6a169de725f 11 } mavlink_waypoint_ack_t;
shimniok 0:a6a169de725f 12
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14
shimniok 0:a6a169de725f 15 /**
shimniok 0:a6a169de725f 16 * @brief Pack a waypoint_ack 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 target_system System ID
shimniok 0:a6a169de725f 22 * @param target_component Component ID
shimniok 0:a6a169de725f 23 * @param type 0: OK, 1: Error
shimniok 0:a6a169de725f 24 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 25 */
shimniok 0:a6a169de725f 26 static inline uint16_t mavlink_msg_waypoint_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t type)
shimniok 0:a6a169de725f 27 {
shimniok 0:a6a169de725f 28 uint16_t i = 0;
shimniok 0:a6a169de725f 29 msg->msgid = MAVLINK_MSG_ID_WAYPOINT_ACK;
shimniok 0:a6a169de725f 30
shimniok 0:a6a169de725f 31 i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
shimniok 0:a6a169de725f 32 i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
shimniok 0:a6a169de725f 33 i += put_uint8_t_by_index(type, i, msg->payload); // 0: OK, 1: Error
shimniok 0:a6a169de725f 34
shimniok 0:a6a169de725f 35 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 36 }
shimniok 0:a6a169de725f 37
shimniok 0:a6a169de725f 38 /**
shimniok 0:a6a169de725f 39 * @brief Pack a waypoint_ack message
shimniok 0:a6a169de725f 40 * @param system_id ID of this system
shimniok 0:a6a169de725f 41 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 42 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 43 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 44 * @param target_system System ID
shimniok 0:a6a169de725f 45 * @param target_component Component ID
shimniok 0:a6a169de725f 46 * @param type 0: OK, 1: Error
shimniok 0:a6a169de725f 47 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 48 */
shimniok 0:a6a169de725f 49 static inline uint16_t mavlink_msg_waypoint_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t type)
shimniok 0:a6a169de725f 50 {
shimniok 0:a6a169de725f 51 uint16_t i = 0;
shimniok 0:a6a169de725f 52 msg->msgid = MAVLINK_MSG_ID_WAYPOINT_ACK;
shimniok 0:a6a169de725f 53
shimniok 0:a6a169de725f 54 i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
shimniok 0:a6a169de725f 55 i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
shimniok 0:a6a169de725f 56 i += put_uint8_t_by_index(type, i, msg->payload); // 0: OK, 1: Error
shimniok 0:a6a169de725f 57
shimniok 0:a6a169de725f 58 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 59 }
shimniok 0:a6a169de725f 60
shimniok 0:a6a169de725f 61 /**
shimniok 0:a6a169de725f 62 * @brief Encode a waypoint_ack struct into a message
shimniok 0:a6a169de725f 63 *
shimniok 0:a6a169de725f 64 * @param system_id ID of this system
shimniok 0:a6a169de725f 65 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 66 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 67 * @param waypoint_ack C-struct to read the message contents from
shimniok 0:a6a169de725f 68 */
shimniok 0:a6a169de725f 69 static inline uint16_t mavlink_msg_waypoint_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_ack_t* waypoint_ack)
shimniok 0:a6a169de725f 70 {
shimniok 0:a6a169de725f 71 return mavlink_msg_waypoint_ack_pack(system_id, component_id, msg, waypoint_ack->target_system, waypoint_ack->target_component, waypoint_ack->type);
shimniok 0:a6a169de725f 72 }
shimniok 0:a6a169de725f 73
shimniok 0:a6a169de725f 74 /**
shimniok 0:a6a169de725f 75 * @brief Send a waypoint_ack message
shimniok 0:a6a169de725f 76 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 77 *
shimniok 0:a6a169de725f 78 * @param target_system System ID
shimniok 0:a6a169de725f 79 * @param target_component Component ID
shimniok 0:a6a169de725f 80 * @param type 0: OK, 1: Error
shimniok 0:a6a169de725f 81 */
shimniok 0:a6a169de725f 82 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 83
shimniok 0:a6a169de725f 84 static inline void mavlink_msg_waypoint_ack_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t type)
shimniok 0:a6a169de725f 85 {
shimniok 0:a6a169de725f 86 mavlink_message_t msg;
shimniok 0:a6a169de725f 87 mavlink_msg_waypoint_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, type);
shimniok 0:a6a169de725f 88 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 89 }
shimniok 0:a6a169de725f 90
shimniok 0:a6a169de725f 91 #endif
shimniok 0:a6a169de725f 92 // MESSAGE WAYPOINT_ACK UNPACKING
shimniok 0:a6a169de725f 93
shimniok 0:a6a169de725f 94 /**
shimniok 0:a6a169de725f 95 * @brief Get field target_system from waypoint_ack message
shimniok 0:a6a169de725f 96 *
shimniok 0:a6a169de725f 97 * @return System ID
shimniok 0:a6a169de725f 98 */
shimniok 0:a6a169de725f 99 static inline uint8_t mavlink_msg_waypoint_ack_get_target_system(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 100 {
shimniok 0:a6a169de725f 101 return (uint8_t)(msg->payload)[0];
shimniok 0:a6a169de725f 102 }
shimniok 0:a6a169de725f 103
shimniok 0:a6a169de725f 104 /**
shimniok 0:a6a169de725f 105 * @brief Get field target_component from waypoint_ack message
shimniok 0:a6a169de725f 106 *
shimniok 0:a6a169de725f 107 * @return Component ID
shimniok 0:a6a169de725f 108 */
shimniok 0:a6a169de725f 109 static inline uint8_t mavlink_msg_waypoint_ack_get_target_component(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 110 {
shimniok 0:a6a169de725f 111 return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 112 }
shimniok 0:a6a169de725f 113
shimniok 0:a6a169de725f 114 /**
shimniok 0:a6a169de725f 115 * @brief Get field type from waypoint_ack message
shimniok 0:a6a169de725f 116 *
shimniok 0:a6a169de725f 117 * @return 0: OK, 1: Error
shimniok 0:a6a169de725f 118 */
shimniok 0:a6a169de725f 119 static inline uint8_t mavlink_msg_waypoint_ack_get_type(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 120 {
shimniok 0:a6a169de725f 121 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 122 }
shimniok 0:a6a169de725f 123
shimniok 0:a6a169de725f 124 /**
shimniok 0:a6a169de725f 125 * @brief Decode a waypoint_ack message into a struct
shimniok 0:a6a169de725f 126 *
shimniok 0:a6a169de725f 127 * @param msg The message to decode
shimniok 0:a6a169de725f 128 * @param waypoint_ack C-struct to decode the message contents into
shimniok 0:a6a169de725f 129 */
shimniok 0:a6a169de725f 130 static inline void mavlink_msg_waypoint_ack_decode(const mavlink_message_t* msg, mavlink_waypoint_ack_t* waypoint_ack)
shimniok 0:a6a169de725f 131 {
shimniok 0:a6a169de725f 132 waypoint_ack->target_system = mavlink_msg_waypoint_ack_get_target_system(msg);
shimniok 0:a6a169de725f 133 waypoint_ack->target_component = mavlink_msg_waypoint_ack_get_target_component(msg);
shimniok 0:a6a169de725f 134 waypoint_ack->type = mavlink_msg_waypoint_ack_get_type(msg);
shimniok 0:a6a169de725f 135 }