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/ualberta/mavlink_msg_radio_calibration.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 RADIO_CALIBRATION PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_RADIO_CALIBRATION 221
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_radio_calibration_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint16_t aileron[3]; ///< Aileron setpoints: left, center, right
shimniok 0:a6a169de725f 8 uint16_t elevator[3]; ///< Elevator setpoints: nose down, center, nose up
shimniok 0:a6a169de725f 9 uint16_t rudder[3]; ///< Rudder setpoints: nose left, center, nose right
shimniok 0:a6a169de725f 10 uint16_t gyro[2]; ///< Tail gyro mode/gain setpoints: heading hold, rate mode
shimniok 0:a6a169de725f 11 uint16_t pitch[5]; ///< Pitch curve setpoints (every 25%)
shimniok 0:a6a169de725f 12 uint16_t throttle[5]; ///< Throttle curve setpoints (every 25%)
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14 } mavlink_radio_calibration_t;
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_AILERON_LEN 3
shimniok 0:a6a169de725f 17 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_ELEVATOR_LEN 3
shimniok 0:a6a169de725f 18 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_RUDDER_LEN 3
shimniok 0:a6a169de725f 19 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_GYRO_LEN 2
shimniok 0:a6a169de725f 20 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_PITCH_LEN 5
shimniok 0:a6a169de725f 21 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_THROTTLE_LEN 5
shimniok 0:a6a169de725f 22
shimniok 0:a6a169de725f 23
shimniok 0:a6a169de725f 24 /**
shimniok 0:a6a169de725f 25 * @brief Pack a radio_calibration message
shimniok 0:a6a169de725f 26 * @param system_id ID of this system
shimniok 0:a6a169de725f 27 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 28 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 29 *
shimniok 0:a6a169de725f 30 * @param aileron Aileron setpoints: left, center, right
shimniok 0:a6a169de725f 31 * @param elevator Elevator setpoints: nose down, center, nose up
shimniok 0:a6a169de725f 32 * @param rudder Rudder setpoints: nose left, center, nose right
shimniok 0:a6a169de725f 33 * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode
shimniok 0:a6a169de725f 34 * @param pitch Pitch curve setpoints (every 25%)
shimniok 0:a6a169de725f 35 * @param throttle Throttle curve setpoints (every 25%)
shimniok 0:a6a169de725f 36 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 37 */
shimniok 0:a6a169de725f 38 static inline uint16_t mavlink_msg_radio_calibration_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle)
shimniok 0:a6a169de725f 39 {
shimniok 0:a6a169de725f 40 uint16_t i = 0;
shimniok 0:a6a169de725f 41 msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION;
shimniok 0:a6a169de725f 42
shimniok 0:a6a169de725f 43 i += put_array_by_index((const int8_t*)aileron, sizeof(uint16_t)*3, i, msg->payload); // Aileron setpoints: left, center, right
shimniok 0:a6a169de725f 44 i += put_array_by_index((const int8_t*)elevator, sizeof(uint16_t)*3, i, msg->payload); // Elevator setpoints: nose down, center, nose up
shimniok 0:a6a169de725f 45 i += put_array_by_index((const int8_t*)rudder, sizeof(uint16_t)*3, i, msg->payload); // Rudder setpoints: nose left, center, nose right
shimniok 0:a6a169de725f 46 i += put_array_by_index((const int8_t*)gyro, sizeof(uint16_t)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode
shimniok 0:a6a169de725f 47 i += put_array_by_index((const int8_t*)pitch, sizeof(uint16_t)*5, i, msg->payload); // Pitch curve setpoints (every 25%)
shimniok 0:a6a169de725f 48 i += put_array_by_index((const int8_t*)throttle, sizeof(uint16_t)*5, i, msg->payload); // Throttle curve setpoints (every 25%)
shimniok 0:a6a169de725f 49
shimniok 0:a6a169de725f 50 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 51 }
shimniok 0:a6a169de725f 52
shimniok 0:a6a169de725f 53 /**
shimniok 0:a6a169de725f 54 * @brief Pack a radio_calibration message
shimniok 0:a6a169de725f 55 * @param system_id ID of this system
shimniok 0:a6a169de725f 56 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 57 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 58 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 59 * @param aileron Aileron setpoints: left, center, right
shimniok 0:a6a169de725f 60 * @param elevator Elevator setpoints: nose down, center, nose up
shimniok 0:a6a169de725f 61 * @param rudder Rudder setpoints: nose left, center, nose right
shimniok 0:a6a169de725f 62 * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode
shimniok 0:a6a169de725f 63 * @param pitch Pitch curve setpoints (every 25%)
shimniok 0:a6a169de725f 64 * @param throttle Throttle curve setpoints (every 25%)
shimniok 0:a6a169de725f 65 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 66 */
shimniok 0:a6a169de725f 67 static inline uint16_t mavlink_msg_radio_calibration_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle)
shimniok 0:a6a169de725f 68 {
shimniok 0:a6a169de725f 69 uint16_t i = 0;
shimniok 0:a6a169de725f 70 msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION;
shimniok 0:a6a169de725f 71
shimniok 0:a6a169de725f 72 i += put_array_by_index((const int8_t*)aileron, sizeof(uint16_t)*3, i, msg->payload); // Aileron setpoints: left, center, right
shimniok 0:a6a169de725f 73 i += put_array_by_index((const int8_t*)elevator, sizeof(uint16_t)*3, i, msg->payload); // Elevator setpoints: nose down, center, nose up
shimniok 0:a6a169de725f 74 i += put_array_by_index((const int8_t*)rudder, sizeof(uint16_t)*3, i, msg->payload); // Rudder setpoints: nose left, center, nose right
shimniok 0:a6a169de725f 75 i += put_array_by_index((const int8_t*)gyro, sizeof(uint16_t)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode
shimniok 0:a6a169de725f 76 i += put_array_by_index((const int8_t*)pitch, sizeof(uint16_t)*5, i, msg->payload); // Pitch curve setpoints (every 25%)
shimniok 0:a6a169de725f 77 i += put_array_by_index((const int8_t*)throttle, sizeof(uint16_t)*5, i, msg->payload); // Throttle curve setpoints (every 25%)
shimniok 0:a6a169de725f 78
shimniok 0:a6a169de725f 79 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 80 }
shimniok 0:a6a169de725f 81
shimniok 0:a6a169de725f 82 /**
shimniok 0:a6a169de725f 83 * @brief Encode a radio_calibration struct into a message
shimniok 0:a6a169de725f 84 *
shimniok 0:a6a169de725f 85 * @param system_id ID of this system
shimniok 0:a6a169de725f 86 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 87 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 88 * @param radio_calibration C-struct to read the message contents from
shimniok 0:a6a169de725f 89 */
shimniok 0:a6a169de725f 90 static inline uint16_t mavlink_msg_radio_calibration_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_radio_calibration_t* radio_calibration)
shimniok 0:a6a169de725f 91 {
shimniok 0:a6a169de725f 92 return mavlink_msg_radio_calibration_pack(system_id, component_id, msg, radio_calibration->aileron, radio_calibration->elevator, radio_calibration->rudder, radio_calibration->gyro, radio_calibration->pitch, radio_calibration->throttle);
shimniok 0:a6a169de725f 93 }
shimniok 0:a6a169de725f 94
shimniok 0:a6a169de725f 95 /**
shimniok 0:a6a169de725f 96 * @brief Send a radio_calibration message
shimniok 0:a6a169de725f 97 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 98 *
shimniok 0:a6a169de725f 99 * @param aileron Aileron setpoints: left, center, right
shimniok 0:a6a169de725f 100 * @param elevator Elevator setpoints: nose down, center, nose up
shimniok 0:a6a169de725f 101 * @param rudder Rudder setpoints: nose left, center, nose right
shimniok 0:a6a169de725f 102 * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode
shimniok 0:a6a169de725f 103 * @param pitch Pitch curve setpoints (every 25%)
shimniok 0:a6a169de725f 104 * @param throttle Throttle curve setpoints (every 25%)
shimniok 0:a6a169de725f 105 */
shimniok 0:a6a169de725f 106 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 107
shimniok 0:a6a169de725f 108 static inline void mavlink_msg_radio_calibration_send(mavlink_channel_t chan, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle)
shimniok 0:a6a169de725f 109 {
shimniok 0:a6a169de725f 110 mavlink_message_t msg;
shimniok 0:a6a169de725f 111 mavlink_msg_radio_calibration_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, aileron, elevator, rudder, gyro, pitch, throttle);
shimniok 0:a6a169de725f 112 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 113 }
shimniok 0:a6a169de725f 114
shimniok 0:a6a169de725f 115 #endif
shimniok 0:a6a169de725f 116 // MESSAGE RADIO_CALIBRATION UNPACKING
shimniok 0:a6a169de725f 117
shimniok 0:a6a169de725f 118 /**
shimniok 0:a6a169de725f 119 * @brief Get field aileron from radio_calibration message
shimniok 0:a6a169de725f 120 *
shimniok 0:a6a169de725f 121 * @return Aileron setpoints: left, center, right
shimniok 0:a6a169de725f 122 */
shimniok 0:a6a169de725f 123 static inline uint16_t mavlink_msg_radio_calibration_get_aileron(const mavlink_message_t* msg, uint16_t* r_data)
shimniok 0:a6a169de725f 124 {
shimniok 0:a6a169de725f 125
shimniok 0:a6a169de725f 126 memcpy(r_data, msg->payload, sizeof(uint16_t)*3);
shimniok 0:a6a169de725f 127 return sizeof(uint16_t)*3;
shimniok 0:a6a169de725f 128 }
shimniok 0:a6a169de725f 129
shimniok 0:a6a169de725f 130 /**
shimniok 0:a6a169de725f 131 * @brief Get field elevator from radio_calibration message
shimniok 0:a6a169de725f 132 *
shimniok 0:a6a169de725f 133 * @return Elevator setpoints: nose down, center, nose up
shimniok 0:a6a169de725f 134 */
shimniok 0:a6a169de725f 135 static inline uint16_t mavlink_msg_radio_calibration_get_elevator(const mavlink_message_t* msg, uint16_t* r_data)
shimniok 0:a6a169de725f 136 {
shimniok 0:a6a169de725f 137
shimniok 0:a6a169de725f 138 memcpy(r_data, msg->payload+sizeof(uint16_t)*3, sizeof(uint16_t)*3);
shimniok 0:a6a169de725f 139 return sizeof(uint16_t)*3;
shimniok 0:a6a169de725f 140 }
shimniok 0:a6a169de725f 141
shimniok 0:a6a169de725f 142 /**
shimniok 0:a6a169de725f 143 * @brief Get field rudder from radio_calibration message
shimniok 0:a6a169de725f 144 *
shimniok 0:a6a169de725f 145 * @return Rudder setpoints: nose left, center, nose right
shimniok 0:a6a169de725f 146 */
shimniok 0:a6a169de725f 147 static inline uint16_t mavlink_msg_radio_calibration_get_rudder(const mavlink_message_t* msg, uint16_t* r_data)
shimniok 0:a6a169de725f 148 {
shimniok 0:a6a169de725f 149
shimniok 0:a6a169de725f 150 memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3, sizeof(uint16_t)*3);
shimniok 0:a6a169de725f 151 return sizeof(uint16_t)*3;
shimniok 0:a6a169de725f 152 }
shimniok 0:a6a169de725f 153
shimniok 0:a6a169de725f 154 /**
shimniok 0:a6a169de725f 155 * @brief Get field gyro from radio_calibration message
shimniok 0:a6a169de725f 156 *
shimniok 0:a6a169de725f 157 * @return Tail gyro mode/gain setpoints: heading hold, rate mode
shimniok 0:a6a169de725f 158 */
shimniok 0:a6a169de725f 159 static inline uint16_t mavlink_msg_radio_calibration_get_gyro(const mavlink_message_t* msg, uint16_t* r_data)
shimniok 0:a6a169de725f 160 {
shimniok 0:a6a169de725f 161
shimniok 0:a6a169de725f 162 memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3, sizeof(uint16_t)*2);
shimniok 0:a6a169de725f 163 return sizeof(uint16_t)*2;
shimniok 0:a6a169de725f 164 }
shimniok 0:a6a169de725f 165
shimniok 0:a6a169de725f 166 /**
shimniok 0:a6a169de725f 167 * @brief Get field pitch from radio_calibration message
shimniok 0:a6a169de725f 168 *
shimniok 0:a6a169de725f 169 * @return Pitch curve setpoints (every 25%)
shimniok 0:a6a169de725f 170 */
shimniok 0:a6a169de725f 171 static inline uint16_t mavlink_msg_radio_calibration_get_pitch(const mavlink_message_t* msg, uint16_t* r_data)
shimniok 0:a6a169de725f 172 {
shimniok 0:a6a169de725f 173
shimniok 0:a6a169de725f 174 memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*2, sizeof(uint16_t)*5);
shimniok 0:a6a169de725f 175 return sizeof(uint16_t)*5;
shimniok 0:a6a169de725f 176 }
shimniok 0:a6a169de725f 177
shimniok 0:a6a169de725f 178 /**
shimniok 0:a6a169de725f 179 * @brief Get field throttle from radio_calibration message
shimniok 0:a6a169de725f 180 *
shimniok 0:a6a169de725f 181 * @return Throttle curve setpoints (every 25%)
shimniok 0:a6a169de725f 182 */
shimniok 0:a6a169de725f 183 static inline uint16_t mavlink_msg_radio_calibration_get_throttle(const mavlink_message_t* msg, uint16_t* r_data)
shimniok 0:a6a169de725f 184 {
shimniok 0:a6a169de725f 185
shimniok 0:a6a169de725f 186 memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*2+sizeof(uint16_t)*5, sizeof(uint16_t)*5);
shimniok 0:a6a169de725f 187 return sizeof(uint16_t)*5;
shimniok 0:a6a169de725f 188 }
shimniok 0:a6a169de725f 189
shimniok 0:a6a169de725f 190 /**
shimniok 0:a6a169de725f 191 * @brief Decode a radio_calibration message into a struct
shimniok 0:a6a169de725f 192 *
shimniok 0:a6a169de725f 193 * @param msg The message to decode
shimniok 0:a6a169de725f 194 * @param radio_calibration C-struct to decode the message contents into
shimniok 0:a6a169de725f 195 */
shimniok 0:a6a169de725f 196 static inline void mavlink_msg_radio_calibration_decode(const mavlink_message_t* msg, mavlink_radio_calibration_t* radio_calibration)
shimniok 0:a6a169de725f 197 {
shimniok 0:a6a169de725f 198 mavlink_msg_radio_calibration_get_aileron(msg, radio_calibration->aileron);
shimniok 0:a6a169de725f 199 mavlink_msg_radio_calibration_get_elevator(msg, radio_calibration->elevator);
shimniok 0:a6a169de725f 200 mavlink_msg_radio_calibration_get_rudder(msg, radio_calibration->rudder);
shimniok 0:a6a169de725f 201 mavlink_msg_radio_calibration_get_gyro(msg, radio_calibration->gyro);
shimniok 0:a6a169de725f 202 mavlink_msg_radio_calibration_get_pitch(msg, radio_calibration->pitch);
shimniok 0:a6a169de725f 203 mavlink_msg_radio_calibration_get_throttle(msg, radio_calibration->throttle);
shimniok 0:a6a169de725f 204 }