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
Diff: MAVlink/include/common/mavlink_msg_global_position.h
- Revision:
- 0:a6a169de725f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_global_position.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,242 @@ +// MESSAGE GLOBAL_POSITION PACKING + +#define MAVLINK_MSG_ID_GLOBAL_POSITION 33 + +typedef struct __mavlink_global_position_t +{ + uint64_t usec; ///< Timestamp (microseconds since unix epoch) + float lat; ///< Latitude, in degrees + float lon; ///< Longitude, in degrees + float alt; ///< Absolute altitude, in meters + float vx; ///< X Speed (in Latitude direction, positive: going north) + float vy; ///< Y Speed (in Longitude direction, positive: going east) + float vz; ///< Z Speed (in Altitude direction, positive: going up) + +} mavlink_global_position_t; + + + +/** + * @brief Pack a global_position message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param usec Timestamp (microseconds since unix epoch) + * @param lat Latitude, in degrees + * @param lon Longitude, in degrees + * @param alt Absolute altitude, in meters + * @param vx X Speed (in Latitude direction, positive: going north) + * @param vy Y Speed (in Longitude direction, positive: going east) + * @param vz Z Speed (in Altitude direction, positive: going up) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_global_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION; + + i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since unix epoch) + i += put_float_by_index(lat, i, msg->payload); // Latitude, in degrees + i += put_float_by_index(lon, i, msg->payload); // Longitude, in degrees + i += put_float_by_index(alt, i, msg->payload); // Absolute altitude, in meters + i += put_float_by_index(vx, i, msg->payload); // X Speed (in Latitude direction, positive: going north) + i += put_float_by_index(vy, i, msg->payload); // Y Speed (in Longitude direction, positive: going east) + i += put_float_by_index(vz, i, msg->payload); // Z Speed (in Altitude direction, positive: going up) + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a global_position message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param usec Timestamp (microseconds since unix epoch) + * @param lat Latitude, in degrees + * @param lon Longitude, in degrees + * @param alt Absolute altitude, in meters + * @param vx X Speed (in Latitude direction, positive: going north) + * @param vy Y Speed (in Longitude direction, positive: going east) + * @param vz Z Speed (in Altitude direction, positive: going up) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_global_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION; + + i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since unix epoch) + i += put_float_by_index(lat, i, msg->payload); // Latitude, in degrees + i += put_float_by_index(lon, i, msg->payload); // Longitude, in degrees + i += put_float_by_index(alt, i, msg->payload); // Absolute altitude, in meters + i += put_float_by_index(vx, i, msg->payload); // X Speed (in Latitude direction, positive: going north) + i += put_float_by_index(vy, i, msg->payload); // Y Speed (in Longitude direction, positive: going east) + i += put_float_by_index(vz, i, msg->payload); // Z Speed (in Altitude direction, positive: going up) + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a global_position struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param global_position C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_global_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_t* global_position) +{ + return mavlink_msg_global_position_pack(system_id, component_id, msg, global_position->usec, global_position->lat, global_position->lon, global_position->alt, global_position->vx, global_position->vy, global_position->vz); +} + +/** + * @brief Send a global_position message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (microseconds since unix epoch) + * @param lat Latitude, in degrees + * @param lon Longitude, in degrees + * @param alt Absolute altitude, in meters + * @param vx X Speed (in Latitude direction, positive: going north) + * @param vy Y Speed (in Longitude direction, positive: going east) + * @param vz Z Speed (in Altitude direction, positive: going up) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_global_position_send(mavlink_channel_t chan, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz) +{ + mavlink_message_t msg; + mavlink_msg_global_position_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, lat, lon, alt, vx, vy, vz); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE GLOBAL_POSITION UNPACKING + +/** + * @brief Get field usec from global_position message + * + * @return Timestamp (microseconds since unix epoch) + */ +static inline uint64_t mavlink_msg_global_position_get_usec(const mavlink_message_t* msg) +{ + generic_64bit r; + r.b[7] = (msg->payload)[0]; + r.b[6] = (msg->payload)[1]; + r.b[5] = (msg->payload)[2]; + r.b[4] = (msg->payload)[3]; + r.b[3] = (msg->payload)[4]; + r.b[2] = (msg->payload)[5]; + r.b[1] = (msg->payload)[6]; + r.b[0] = (msg->payload)[7]; + return (uint64_t)r.ll; +} + +/** + * @brief Get field lat from global_position message + * + * @return Latitude, in degrees + */ +static inline float mavlink_msg_global_position_get_lat(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t))[3]; + return (float)r.f; +} + +/** + * @brief Get field lon from global_position message + * + * @return Longitude, in degrees + */ +static inline float mavlink_msg_global_position_get_lon(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field alt from global_position message + * + * @return Absolute altitude, in meters + */ +static inline float mavlink_msg_global_position_get_alt(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field vx from global_position message + * + * @return X Speed (in Latitude direction, positive: going north) + */ +static inline float mavlink_msg_global_position_get_vx(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field vy from global_position message + * + * @return Y Speed (in Longitude direction, positive: going east) + */ +static inline float mavlink_msg_global_position_get_vy(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field vz from global_position message + * + * @return Z Speed (in Altitude direction, positive: going up) + */ +static inline float mavlink_msg_global_position_get_vz(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Decode a global_position message into a struct + * + * @param msg The message to decode + * @param global_position C-struct to decode the message contents into + */ +static inline void mavlink_msg_global_position_decode(const mavlink_message_t* msg, mavlink_global_position_t* global_position) +{ + global_position->usec = mavlink_msg_global_position_get_usec(msg); + global_position->lat = mavlink_msg_global_position_get_lat(msg); + global_position->lon = mavlink_msg_global_position_get_lon(msg); + global_position->alt = mavlink_msg_global_position_get_alt(msg); + global_position->vx = mavlink_msg_global_position_get_vx(msg); + global_position->vy = mavlink_msg_global_position_get_vy(msg); + global_position->vz = mavlink_msg_global_position_get_vz(msg); +}