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_sensor_bias.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 SENSOR_BIAS PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_SENSOR_BIAS 172
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_sensor_bias_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 float axBias; ///< Accelerometer X bias (m/s)
shimniok 0:a6a169de725f 8 float ayBias; ///< Accelerometer Y bias (m/s)
shimniok 0:a6a169de725f 9 float azBias; ///< Accelerometer Z bias (m/s)
shimniok 0:a6a169de725f 10 float gxBias; ///< Gyro X bias (rad/s)
shimniok 0:a6a169de725f 11 float gyBias; ///< Gyro Y bias (rad/s)
shimniok 0:a6a169de725f 12 float gzBias; ///< Gyro Z bias (rad/s)
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14 } mavlink_sensor_bias_t;
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17
shimniok 0:a6a169de725f 18 /**
shimniok 0:a6a169de725f 19 * @brief Pack a sensor_bias message
shimniok 0:a6a169de725f 20 * @param system_id ID of this system
shimniok 0:a6a169de725f 21 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 22 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 23 *
shimniok 0:a6a169de725f 24 * @param axBias Accelerometer X bias (m/s)
shimniok 0:a6a169de725f 25 * @param ayBias Accelerometer Y bias (m/s)
shimniok 0:a6a169de725f 26 * @param azBias Accelerometer Z bias (m/s)
shimniok 0:a6a169de725f 27 * @param gxBias Gyro X bias (rad/s)
shimniok 0:a6a169de725f 28 * @param gyBias Gyro Y bias (rad/s)
shimniok 0:a6a169de725f 29 * @param gzBias Gyro Z bias (rad/s)
shimniok 0:a6a169de725f 30 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 31 */
shimniok 0:a6a169de725f 32 static inline uint16_t mavlink_msg_sensor_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias)
shimniok 0:a6a169de725f 33 {
shimniok 0:a6a169de725f 34 uint16_t i = 0;
shimniok 0:a6a169de725f 35 msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS;
shimniok 0:a6a169de725f 36
shimniok 0:a6a169de725f 37 i += put_float_by_index(axBias, i, msg->payload); // Accelerometer X bias (m/s)
shimniok 0:a6a169de725f 38 i += put_float_by_index(ayBias, i, msg->payload); // Accelerometer Y bias (m/s)
shimniok 0:a6a169de725f 39 i += put_float_by_index(azBias, i, msg->payload); // Accelerometer Z bias (m/s)
shimniok 0:a6a169de725f 40 i += put_float_by_index(gxBias, i, msg->payload); // Gyro X bias (rad/s)
shimniok 0:a6a169de725f 41 i += put_float_by_index(gyBias, i, msg->payload); // Gyro Y bias (rad/s)
shimniok 0:a6a169de725f 42 i += put_float_by_index(gzBias, i, msg->payload); // Gyro Z bias (rad/s)
shimniok 0:a6a169de725f 43
shimniok 0:a6a169de725f 44 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 45 }
shimniok 0:a6a169de725f 46
shimniok 0:a6a169de725f 47 /**
shimniok 0:a6a169de725f 48 * @brief Pack a sensor_bias message
shimniok 0:a6a169de725f 49 * @param system_id ID of this system
shimniok 0:a6a169de725f 50 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 51 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 52 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 53 * @param axBias Accelerometer X bias (m/s)
shimniok 0:a6a169de725f 54 * @param ayBias Accelerometer Y bias (m/s)
shimniok 0:a6a169de725f 55 * @param azBias Accelerometer Z bias (m/s)
shimniok 0:a6a169de725f 56 * @param gxBias Gyro X bias (rad/s)
shimniok 0:a6a169de725f 57 * @param gyBias Gyro Y bias (rad/s)
shimniok 0:a6a169de725f 58 * @param gzBias Gyro Z bias (rad/s)
shimniok 0:a6a169de725f 59 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 60 */
shimniok 0:a6a169de725f 61 static inline uint16_t mavlink_msg_sensor_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias)
shimniok 0:a6a169de725f 62 {
shimniok 0:a6a169de725f 63 uint16_t i = 0;
shimniok 0:a6a169de725f 64 msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS;
shimniok 0:a6a169de725f 65
shimniok 0:a6a169de725f 66 i += put_float_by_index(axBias, i, msg->payload); // Accelerometer X bias (m/s)
shimniok 0:a6a169de725f 67 i += put_float_by_index(ayBias, i, msg->payload); // Accelerometer Y bias (m/s)
shimniok 0:a6a169de725f 68 i += put_float_by_index(azBias, i, msg->payload); // Accelerometer Z bias (m/s)
shimniok 0:a6a169de725f 69 i += put_float_by_index(gxBias, i, msg->payload); // Gyro X bias (rad/s)
shimniok 0:a6a169de725f 70 i += put_float_by_index(gyBias, i, msg->payload); // Gyro Y bias (rad/s)
shimniok 0:a6a169de725f 71 i += put_float_by_index(gzBias, i, msg->payload); // Gyro Z bias (rad/s)
shimniok 0:a6a169de725f 72
shimniok 0:a6a169de725f 73 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 74 }
shimniok 0:a6a169de725f 75
shimniok 0:a6a169de725f 76 /**
shimniok 0:a6a169de725f 77 * @brief Encode a sensor_bias struct into a message
shimniok 0:a6a169de725f 78 *
shimniok 0:a6a169de725f 79 * @param system_id ID of this system
shimniok 0:a6a169de725f 80 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 81 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 82 * @param sensor_bias C-struct to read the message contents from
shimniok 0:a6a169de725f 83 */
shimniok 0:a6a169de725f 84 static inline uint16_t mavlink_msg_sensor_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_bias_t* sensor_bias)
shimniok 0:a6a169de725f 85 {
shimniok 0:a6a169de725f 86 return mavlink_msg_sensor_bias_pack(system_id, component_id, msg, sensor_bias->axBias, sensor_bias->ayBias, sensor_bias->azBias, sensor_bias->gxBias, sensor_bias->gyBias, sensor_bias->gzBias);
shimniok 0:a6a169de725f 87 }
shimniok 0:a6a169de725f 88
shimniok 0:a6a169de725f 89 /**
shimniok 0:a6a169de725f 90 * @brief Send a sensor_bias message
shimniok 0:a6a169de725f 91 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 92 *
shimniok 0:a6a169de725f 93 * @param axBias Accelerometer X bias (m/s)
shimniok 0:a6a169de725f 94 * @param ayBias Accelerometer Y bias (m/s)
shimniok 0:a6a169de725f 95 * @param azBias Accelerometer Z bias (m/s)
shimniok 0:a6a169de725f 96 * @param gxBias Gyro X bias (rad/s)
shimniok 0:a6a169de725f 97 * @param gyBias Gyro Y bias (rad/s)
shimniok 0:a6a169de725f 98 * @param gzBias Gyro Z bias (rad/s)
shimniok 0:a6a169de725f 99 */
shimniok 0:a6a169de725f 100 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 101
shimniok 0:a6a169de725f 102 static inline void mavlink_msg_sensor_bias_send(mavlink_channel_t chan, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias)
shimniok 0:a6a169de725f 103 {
shimniok 0:a6a169de725f 104 mavlink_message_t msg;
shimniok 0:a6a169de725f 105 mavlink_msg_sensor_bias_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, axBias, ayBias, azBias, gxBias, gyBias, gzBias);
shimniok 0:a6a169de725f 106 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 107 }
shimniok 0:a6a169de725f 108
shimniok 0:a6a169de725f 109 #endif
shimniok 0:a6a169de725f 110 // MESSAGE SENSOR_BIAS UNPACKING
shimniok 0:a6a169de725f 111
shimniok 0:a6a169de725f 112 /**
shimniok 0:a6a169de725f 113 * @brief Get field axBias from sensor_bias message
shimniok 0:a6a169de725f 114 *
shimniok 0:a6a169de725f 115 * @return Accelerometer X bias (m/s)
shimniok 0:a6a169de725f 116 */
shimniok 0:a6a169de725f 117 static inline float mavlink_msg_sensor_bias_get_axBias(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 118 {
shimniok 0:a6a169de725f 119 generic_32bit r;
shimniok 0:a6a169de725f 120 r.b[3] = (msg->payload)[0];
shimniok 0:a6a169de725f 121 r.b[2] = (msg->payload)[1];
shimniok 0:a6a169de725f 122 r.b[1] = (msg->payload)[2];
shimniok 0:a6a169de725f 123 r.b[0] = (msg->payload)[3];
shimniok 0:a6a169de725f 124 return (float)r.f;
shimniok 0:a6a169de725f 125 }
shimniok 0:a6a169de725f 126
shimniok 0:a6a169de725f 127 /**
shimniok 0:a6a169de725f 128 * @brief Get field ayBias from sensor_bias message
shimniok 0:a6a169de725f 129 *
shimniok 0:a6a169de725f 130 * @return Accelerometer Y bias (m/s)
shimniok 0:a6a169de725f 131 */
shimniok 0:a6a169de725f 132 static inline float mavlink_msg_sensor_bias_get_ayBias(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 133 {
shimniok 0:a6a169de725f 134 generic_32bit r;
shimniok 0:a6a169de725f 135 r.b[3] = (msg->payload+sizeof(float))[0];
shimniok 0:a6a169de725f 136 r.b[2] = (msg->payload+sizeof(float))[1];
shimniok 0:a6a169de725f 137 r.b[1] = (msg->payload+sizeof(float))[2];
shimniok 0:a6a169de725f 138 r.b[0] = (msg->payload+sizeof(float))[3];
shimniok 0:a6a169de725f 139 return (float)r.f;
shimniok 0:a6a169de725f 140 }
shimniok 0:a6a169de725f 141
shimniok 0:a6a169de725f 142 /**
shimniok 0:a6a169de725f 143 * @brief Get field azBias from sensor_bias message
shimniok 0:a6a169de725f 144 *
shimniok 0:a6a169de725f 145 * @return Accelerometer Z bias (m/s)
shimniok 0:a6a169de725f 146 */
shimniok 0:a6a169de725f 147 static inline float mavlink_msg_sensor_bias_get_azBias(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 148 {
shimniok 0:a6a169de725f 149 generic_32bit r;
shimniok 0:a6a169de725f 150 r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 151 r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 152 r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 153 r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 154 return (float)r.f;
shimniok 0:a6a169de725f 155 }
shimniok 0:a6a169de725f 156
shimniok 0:a6a169de725f 157 /**
shimniok 0:a6a169de725f 158 * @brief Get field gxBias from sensor_bias message
shimniok 0:a6a169de725f 159 *
shimniok 0:a6a169de725f 160 * @return Gyro X bias (rad/s)
shimniok 0:a6a169de725f 161 */
shimniok 0:a6a169de725f 162 static inline float mavlink_msg_sensor_bias_get_gxBias(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 163 {
shimniok 0:a6a169de725f 164 generic_32bit r;
shimniok 0:a6a169de725f 165 r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 166 r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 167 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 168 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 169 return (float)r.f;
shimniok 0:a6a169de725f 170 }
shimniok 0:a6a169de725f 171
shimniok 0:a6a169de725f 172 /**
shimniok 0:a6a169de725f 173 * @brief Get field gyBias from sensor_bias message
shimniok 0:a6a169de725f 174 *
shimniok 0:a6a169de725f 175 * @return Gyro Y bias (rad/s)
shimniok 0:a6a169de725f 176 */
shimniok 0:a6a169de725f 177 static inline float mavlink_msg_sensor_bias_get_gyBias(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 178 {
shimniok 0:a6a169de725f 179 generic_32bit r;
shimniok 0:a6a169de725f 180 r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 181 r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 182 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 183 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 184 return (float)r.f;
shimniok 0:a6a169de725f 185 }
shimniok 0:a6a169de725f 186
shimniok 0:a6a169de725f 187 /**
shimniok 0:a6a169de725f 188 * @brief Get field gzBias from sensor_bias message
shimniok 0:a6a169de725f 189 *
shimniok 0:a6a169de725f 190 * @return Gyro Z bias (rad/s)
shimniok 0:a6a169de725f 191 */
shimniok 0:a6a169de725f 192 static inline float mavlink_msg_sensor_bias_get_gzBias(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 193 {
shimniok 0:a6a169de725f 194 generic_32bit r;
shimniok 0:a6a169de725f 195 r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 196 r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 197 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 198 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 199 return (float)r.f;
shimniok 0:a6a169de725f 200 }
shimniok 0:a6a169de725f 201
shimniok 0:a6a169de725f 202 /**
shimniok 0:a6a169de725f 203 * @brief Decode a sensor_bias message into a struct
shimniok 0:a6a169de725f 204 *
shimniok 0:a6a169de725f 205 * @param msg The message to decode
shimniok 0:a6a169de725f 206 * @param sensor_bias C-struct to decode the message contents into
shimniok 0:a6a169de725f 207 */
shimniok 0:a6a169de725f 208 static inline void mavlink_msg_sensor_bias_decode(const mavlink_message_t* msg, mavlink_sensor_bias_t* sensor_bias)
shimniok 0:a6a169de725f 209 {
shimniok 0:a6a169de725f 210 sensor_bias->axBias = mavlink_msg_sensor_bias_get_axBias(msg);
shimniok 0:a6a169de725f 211 sensor_bias->ayBias = mavlink_msg_sensor_bias_get_ayBias(msg);
shimniok 0:a6a169de725f 212 sensor_bias->azBias = mavlink_msg_sensor_bias_get_azBias(msg);
shimniok 0:a6a169de725f 213 sensor_bias->gxBias = mavlink_msg_sensor_bias_get_gxBias(msg);
shimniok 0:a6a169de725f 214 sensor_bias->gyBias = mavlink_msg_sensor_bias_get_gyBias(msg);
shimniok 0:a6a169de725f 215 sensor_bias->gzBias = mavlink_msg_sensor_bias_get_gzBias(msg);
shimniok 0:a6a169de725f 216 }