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/slugs/mavlink_msg_mid_lvl_cmds.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 MID_LVL_CMDS PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_MID_LVL_CMDS 180
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_mid_lvl_cmds_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint8_t target; ///< The system setting the commands
shimniok 0:a6a169de725f 8 float hCommand; ///< Commanded Airspeed
shimniok 0:a6a169de725f 9 float uCommand; ///< Log value 2
shimniok 0:a6a169de725f 10 float rCommand; ///< Log value 3
shimniok 0:a6a169de725f 11
shimniok 0:a6a169de725f 12 } mavlink_mid_lvl_cmds_t;
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16 /**
shimniok 0:a6a169de725f 17 * @brief Pack a mid_lvl_cmds message
shimniok 0:a6a169de725f 18 * @param system_id ID of this system
shimniok 0:a6a169de725f 19 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 20 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 21 *
shimniok 0:a6a169de725f 22 * @param target The system setting the commands
shimniok 0:a6a169de725f 23 * @param hCommand Commanded Airspeed
shimniok 0:a6a169de725f 24 * @param uCommand Log value 2
shimniok 0:a6a169de725f 25 * @param rCommand Log value 3
shimniok 0:a6a169de725f 26 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 27 */
shimniok 0:a6a169de725f 28 static inline uint16_t mavlink_msg_mid_lvl_cmds_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, float hCommand, float uCommand, float rCommand)
shimniok 0:a6a169de725f 29 {
shimniok 0:a6a169de725f 30 uint16_t i = 0;
shimniok 0:a6a169de725f 31 msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS;
shimniok 0:a6a169de725f 32
shimniok 0:a6a169de725f 33 i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the commands
shimniok 0:a6a169de725f 34 i += put_float_by_index(hCommand, i, msg->payload); // Commanded Airspeed
shimniok 0:a6a169de725f 35 i += put_float_by_index(uCommand, i, msg->payload); // Log value 2
shimniok 0:a6a169de725f 36 i += put_float_by_index(rCommand, i, msg->payload); // Log value 3
shimniok 0:a6a169de725f 37
shimniok 0:a6a169de725f 38 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 39 }
shimniok 0:a6a169de725f 40
shimniok 0:a6a169de725f 41 /**
shimniok 0:a6a169de725f 42 * @brief Pack a mid_lvl_cmds message
shimniok 0:a6a169de725f 43 * @param system_id ID of this system
shimniok 0:a6a169de725f 44 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 45 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 46 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 47 * @param target The system setting the commands
shimniok 0:a6a169de725f 48 * @param hCommand Commanded Airspeed
shimniok 0:a6a169de725f 49 * @param uCommand Log value 2
shimniok 0:a6a169de725f 50 * @param rCommand Log value 3
shimniok 0:a6a169de725f 51 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 52 */
shimniok 0:a6a169de725f 53 static inline uint16_t mavlink_msg_mid_lvl_cmds_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float hCommand, float uCommand, float rCommand)
shimniok 0:a6a169de725f 54 {
shimniok 0:a6a169de725f 55 uint16_t i = 0;
shimniok 0:a6a169de725f 56 msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS;
shimniok 0:a6a169de725f 57
shimniok 0:a6a169de725f 58 i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the commands
shimniok 0:a6a169de725f 59 i += put_float_by_index(hCommand, i, msg->payload); // Commanded Airspeed
shimniok 0:a6a169de725f 60 i += put_float_by_index(uCommand, i, msg->payload); // Log value 2
shimniok 0:a6a169de725f 61 i += put_float_by_index(rCommand, i, msg->payload); // Log value 3
shimniok 0:a6a169de725f 62
shimniok 0:a6a169de725f 63 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 64 }
shimniok 0:a6a169de725f 65
shimniok 0:a6a169de725f 66 /**
shimniok 0:a6a169de725f 67 * @brief Encode a mid_lvl_cmds struct into a message
shimniok 0:a6a169de725f 68 *
shimniok 0:a6a169de725f 69 * @param system_id ID of this system
shimniok 0:a6a169de725f 70 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 71 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 72 * @param mid_lvl_cmds C-struct to read the message contents from
shimniok 0:a6a169de725f 73 */
shimniok 0:a6a169de725f 74 static inline uint16_t mavlink_msg_mid_lvl_cmds_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mid_lvl_cmds_t* mid_lvl_cmds)
shimniok 0:a6a169de725f 75 {
shimniok 0:a6a169de725f 76 return mavlink_msg_mid_lvl_cmds_pack(system_id, component_id, msg, mid_lvl_cmds->target, mid_lvl_cmds->hCommand, mid_lvl_cmds->uCommand, mid_lvl_cmds->rCommand);
shimniok 0:a6a169de725f 77 }
shimniok 0:a6a169de725f 78
shimniok 0:a6a169de725f 79 /**
shimniok 0:a6a169de725f 80 * @brief Send a mid_lvl_cmds message
shimniok 0:a6a169de725f 81 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 82 *
shimniok 0:a6a169de725f 83 * @param target The system setting the commands
shimniok 0:a6a169de725f 84 * @param hCommand Commanded Airspeed
shimniok 0:a6a169de725f 85 * @param uCommand Log value 2
shimniok 0:a6a169de725f 86 * @param rCommand Log value 3
shimniok 0:a6a169de725f 87 */
shimniok 0:a6a169de725f 88 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 89
shimniok 0:a6a169de725f 90 static inline void mavlink_msg_mid_lvl_cmds_send(mavlink_channel_t chan, uint8_t target, float hCommand, float uCommand, float rCommand)
shimniok 0:a6a169de725f 91 {
shimniok 0:a6a169de725f 92 mavlink_message_t msg;
shimniok 0:a6a169de725f 93 mavlink_msg_mid_lvl_cmds_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, hCommand, uCommand, rCommand);
shimniok 0:a6a169de725f 94 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 95 }
shimniok 0:a6a169de725f 96
shimniok 0:a6a169de725f 97 #endif
shimniok 0:a6a169de725f 98 // MESSAGE MID_LVL_CMDS UNPACKING
shimniok 0:a6a169de725f 99
shimniok 0:a6a169de725f 100 /**
shimniok 0:a6a169de725f 101 * @brief Get field target from mid_lvl_cmds message
shimniok 0:a6a169de725f 102 *
shimniok 0:a6a169de725f 103 * @return The system setting the commands
shimniok 0:a6a169de725f 104 */
shimniok 0:a6a169de725f 105 static inline uint8_t mavlink_msg_mid_lvl_cmds_get_target(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 106 {
shimniok 0:a6a169de725f 107 return (uint8_t)(msg->payload)[0];
shimniok 0:a6a169de725f 108 }
shimniok 0:a6a169de725f 109
shimniok 0:a6a169de725f 110 /**
shimniok 0:a6a169de725f 111 * @brief Get field hCommand from mid_lvl_cmds message
shimniok 0:a6a169de725f 112 *
shimniok 0:a6a169de725f 113 * @return Commanded Airspeed
shimniok 0:a6a169de725f 114 */
shimniok 0:a6a169de725f 115 static inline float mavlink_msg_mid_lvl_cmds_get_hCommand(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 116 {
shimniok 0:a6a169de725f 117 generic_32bit r;
shimniok 0:a6a169de725f 118 r.b[3] = (msg->payload+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 119 r.b[2] = (msg->payload+sizeof(uint8_t))[1];
shimniok 0:a6a169de725f 120 r.b[1] = (msg->payload+sizeof(uint8_t))[2];
shimniok 0:a6a169de725f 121 r.b[0] = (msg->payload+sizeof(uint8_t))[3];
shimniok 0:a6a169de725f 122 return (float)r.f;
shimniok 0:a6a169de725f 123 }
shimniok 0:a6a169de725f 124
shimniok 0:a6a169de725f 125 /**
shimniok 0:a6a169de725f 126 * @brief Get field uCommand from mid_lvl_cmds message
shimniok 0:a6a169de725f 127 *
shimniok 0:a6a169de725f 128 * @return Log value 2
shimniok 0:a6a169de725f 129 */
shimniok 0:a6a169de725f 130 static inline float mavlink_msg_mid_lvl_cmds_get_uCommand(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(uint8_t)+sizeof(float))[0];
shimniok 0:a6a169de725f 134 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1];
shimniok 0:a6a169de725f 135 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2];
shimniok 0:a6a169de725f 136 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float))[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 rCommand from mid_lvl_cmds message
shimniok 0:a6a169de725f 142 *
shimniok 0:a6a169de725f 143 * @return Log value 3
shimniok 0:a6a169de725f 144 */
shimniok 0:a6a169de725f 145 static inline float mavlink_msg_mid_lvl_cmds_get_rCommand(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(uint8_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 149 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 150 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 151 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+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 Decode a mid_lvl_cmds message into a struct
shimniok 0:a6a169de725f 157 *
shimniok 0:a6a169de725f 158 * @param msg The message to decode
shimniok 0:a6a169de725f 159 * @param mid_lvl_cmds C-struct to decode the message contents into
shimniok 0:a6a169de725f 160 */
shimniok 0:a6a169de725f 161 static inline void mavlink_msg_mid_lvl_cmds_decode(const mavlink_message_t* msg, mavlink_mid_lvl_cmds_t* mid_lvl_cmds)
shimniok 0:a6a169de725f 162 {
shimniok 0:a6a169de725f 163 mid_lvl_cmds->target = mavlink_msg_mid_lvl_cmds_get_target(msg);
shimniok 0:a6a169de725f 164 mid_lvl_cmds->hCommand = mavlink_msg_mid_lvl_cmds_get_hCommand(msg);
shimniok 0:a6a169de725f 165 mid_lvl_cmds->uCommand = mavlink_msg_mid_lvl_cmds_get_uCommand(msg);
shimniok 0:a6a169de725f 166 mid_lvl_cmds->rCommand = mavlink_msg_mid_lvl_cmds_get_rCommand(msg);
shimniok 0:a6a169de725f 167 }