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_nav_controller_output.h
- Revision:
- 0:a6a169de725f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_nav_controller_output.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,254 @@ +// MESSAGE NAV_CONTROLLER_OUTPUT PACKING + +#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62 + +typedef struct __mavlink_nav_controller_output_t +{ + float nav_roll; ///< Current desired roll in degrees + float nav_pitch; ///< Current desired pitch in degrees + int16_t nav_bearing; ///< Current desired heading in degrees + int16_t target_bearing; ///< Bearing to current waypoint/target in degrees + uint16_t wp_dist; ///< Distance to active waypoint in meters + float alt_error; ///< Current altitude error in meters + float aspd_error; ///< Current airspeed error in meters/second + float xtrack_error; ///< Current crosstrack error on x-y plane in meters + +} mavlink_nav_controller_output_t; + + + +/** + * @brief Pack a nav_controller_output 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 nav_roll Current desired roll in degrees + * @param nav_pitch Current desired pitch in degrees + * @param nav_bearing Current desired heading in degrees + * @param target_bearing Bearing to current waypoint/target in degrees + * @param wp_dist Distance to active waypoint in meters + * @param alt_error Current altitude error in meters + * @param aspd_error Current airspeed error in meters/second + * @param xtrack_error Current crosstrack error on x-y plane in meters + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; + + i += put_float_by_index(nav_roll, i, msg->payload); // Current desired roll in degrees + i += put_float_by_index(nav_pitch, i, msg->payload); // Current desired pitch in degrees + i += put_int16_t_by_index(nav_bearing, i, msg->payload); // Current desired heading in degrees + i += put_int16_t_by_index(target_bearing, i, msg->payload); // Bearing to current waypoint/target in degrees + i += put_uint16_t_by_index(wp_dist, i, msg->payload); // Distance to active waypoint in meters + i += put_float_by_index(alt_error, i, msg->payload); // Current altitude error in meters + i += put_float_by_index(aspd_error, i, msg->payload); // Current airspeed error in meters/second + i += put_float_by_index(xtrack_error, i, msg->payload); // Current crosstrack error on x-y plane in meters + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a nav_controller_output 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 nav_roll Current desired roll in degrees + * @param nav_pitch Current desired pitch in degrees + * @param nav_bearing Current desired heading in degrees + * @param target_bearing Bearing to current waypoint/target in degrees + * @param wp_dist Distance to active waypoint in meters + * @param alt_error Current altitude error in meters + * @param aspd_error Current airspeed error in meters/second + * @param xtrack_error Current crosstrack error on x-y plane in meters + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; + + i += put_float_by_index(nav_roll, i, msg->payload); // Current desired roll in degrees + i += put_float_by_index(nav_pitch, i, msg->payload); // Current desired pitch in degrees + i += put_int16_t_by_index(nav_bearing, i, msg->payload); // Current desired heading in degrees + i += put_int16_t_by_index(target_bearing, i, msg->payload); // Bearing to current waypoint/target in degrees + i += put_uint16_t_by_index(wp_dist, i, msg->payload); // Distance to active waypoint in meters + i += put_float_by_index(alt_error, i, msg->payload); // Current altitude error in meters + i += put_float_by_index(aspd_error, i, msg->payload); // Current airspeed error in meters/second + i += put_float_by_index(xtrack_error, i, msg->payload); // Current crosstrack error on x-y plane in meters + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a nav_controller_output 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 nav_controller_output C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output) +{ + return mavlink_msg_nav_controller_output_pack(system_id, component_id, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error); +} + +/** + * @brief Send a nav_controller_output message + * @param chan MAVLink channel to send the message + * + * @param nav_roll Current desired roll in degrees + * @param nav_pitch Current desired pitch in degrees + * @param nav_bearing Current desired heading in degrees + * @param target_bearing Bearing to current waypoint/target in degrees + * @param wp_dist Distance to active waypoint in meters + * @param alt_error Current altitude error in meters + * @param aspd_error Current airspeed error in meters/second + * @param xtrack_error Current crosstrack error on x-y plane in meters + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error) +{ + mavlink_message_t msg; + mavlink_msg_nav_controller_output_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING + +/** + * @brief Get field nav_roll from nav_controller_output message + * + * @return Current desired roll in degrees + */ +static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload)[0]; + r.b[2] = (msg->payload)[1]; + r.b[1] = (msg->payload)[2]; + r.b[0] = (msg->payload)[3]; + return (float)r.f; +} + +/** + * @brief Get field nav_pitch from nav_controller_output message + * + * @return Current desired pitch in degrees + */ +static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field nav_bearing from nav_controller_output message + * + * @return Current desired heading in degrees + */ +static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[0]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[1]; + return (int16_t)r.s; +} + +/** + * @brief Get field target_bearing from nav_controller_output message + * + * @return Bearing to current waypoint/target in degrees + */ +static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[0]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[1]; + return (int16_t)r.s; +} + +/** + * @brief Get field wp_dist from nav_controller_output message + * + * @return Distance to active waypoint in meters + */ +static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[0]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Get field alt_error from nav_controller_output message + * + * @return Current altitude error in meters + */ +static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[0]; + r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[1]; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[2]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[3]; + return (float)r.f; +} + +/** + * @brief Get field aspd_error from nav_controller_output message + * + * @return Current airspeed error in meters/second + */ +static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field xtrack_error from nav_controller_output message + * + * @return Current crosstrack error on x-y plane in meters + */ +static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Decode a nav_controller_output message into a struct + * + * @param msg The message to decode + * @param nav_controller_output C-struct to decode the message contents into + */ +static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t* msg, mavlink_nav_controller_output_t* nav_controller_output) +{ + nav_controller_output->nav_roll = mavlink_msg_nav_controller_output_get_nav_roll(msg); + nav_controller_output->nav_pitch = mavlink_msg_nav_controller_output_get_nav_pitch(msg); + nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg); + nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg); + nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg); + nav_controller_output->alt_error = mavlink_msg_nav_controller_output_get_alt_error(msg); + nav_controller_output->aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(msg); + nav_controller_output->xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(msg); +}