![](/media/cache/profiles/2012_sf_avc_095.jpg.50x50_q85.jpg)
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/pixhawk/mavlink_msg_position_control_offset_set.h
- Revision:
- 0:a6a169de725f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/pixhawk/mavlink_msg_position_control_offset_set.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,206 @@ +// MESSAGE POSITION_CONTROL_OFFSET_SET PACKING + +#define MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET 154 + +typedef struct __mavlink_position_control_offset_set_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + float x; ///< x position offset + float y; ///< y position offset + float z; ///< z position offset + float yaw; ///< yaw orientation offset in radians, 0 = NORTH + +} mavlink_position_control_offset_set_t; + + + +/** + * @brief Pack a position_control_offset_set 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 target_system System ID + * @param target_component Component ID + * @param x x position offset + * @param y y position offset + * @param z z position offset + * @param yaw yaw orientation offset in radians, 0 = NORTH + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_position_control_offset_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET; + + i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID + i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID + i += put_float_by_index(x, i, msg->payload); // x position offset + i += put_float_by_index(y, i, msg->payload); // y position offset + i += put_float_by_index(z, i, msg->payload); // z position offset + i += put_float_by_index(yaw, i, msg->payload); // yaw orientation offset in radians, 0 = NORTH + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a position_control_offset_set 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 target_system System ID + * @param target_component Component ID + * @param x x position offset + * @param y y position offset + * @param z z position offset + * @param yaw yaw orientation offset in radians, 0 = NORTH + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_position_control_offset_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET; + + i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID + i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID + i += put_float_by_index(x, i, msg->payload); // x position offset + i += put_float_by_index(y, i, msg->payload); // y position offset + i += put_float_by_index(z, i, msg->payload); // z position offset + i += put_float_by_index(yaw, i, msg->payload); // yaw orientation offset in radians, 0 = NORTH + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a position_control_offset_set 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 position_control_offset_set C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_position_control_offset_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_control_offset_set_t* position_control_offset_set) +{ + return mavlink_msg_position_control_offset_set_pack(system_id, component_id, msg, position_control_offset_set->target_system, position_control_offset_set->target_component, position_control_offset_set->x, position_control_offset_set->y, position_control_offset_set->z, position_control_offset_set->yaw); +} + +/** + * @brief Send a position_control_offset_set message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param x x position offset + * @param y y position offset + * @param z z position offset + * @param yaw yaw orientation offset in radians, 0 = NORTH + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_position_control_offset_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw) +{ + mavlink_message_t msg; + mavlink_msg_position_control_offset_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, x, y, z, yaw); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE POSITION_CONTROL_OFFSET_SET UNPACKING + +/** + * @brief Get field target_system from position_control_offset_set message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_position_control_offset_set_get_target_system(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload)[0]; +} + +/** + * @brief Get field target_component from position_control_offset_set message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_position_control_offset_set_get_target_component(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; +} + +/** + * @brief Get field x from position_control_offset_set message + * + * @return x position offset + */ +static inline float mavlink_msg_position_control_offset_set_get_x(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; + r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; + r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2]; + r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3]; + return (float)r.f; +} + +/** + * @brief Get field y from position_control_offset_set message + * + * @return y position offset + */ +static inline float mavlink_msg_position_control_offset_set_get_y(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field z from position_control_offset_set message + * + * @return z position offset + */ +static inline float mavlink_msg_position_control_offset_set_get_z(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field yaw from position_control_offset_set message + * + * @return yaw orientation offset in radians, 0 = NORTH + */ +static inline float mavlink_msg_position_control_offset_set_get_yaw(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Decode a position_control_offset_set message into a struct + * + * @param msg The message to decode + * @param position_control_offset_set C-struct to decode the message contents into + */ +static inline void mavlink_msg_position_control_offset_set_decode(const mavlink_message_t* msg, mavlink_position_control_offset_set_t* position_control_offset_set) +{ + position_control_offset_set->target_system = mavlink_msg_position_control_offset_set_get_target_system(msg); + position_control_offset_set->target_component = mavlink_msg_position_control_offset_set_get_target_component(msg); + position_control_offset_set->x = mavlink_msg_position_control_offset_set_get_x(msg); + position_control_offset_set->y = mavlink_msg_position_control_offset_set_get_y(msg); + position_control_offset_set->z = mavlink_msg_position_control_offset_set_get_z(msg); + position_control_offset_set->yaw = mavlink_msg_position_control_offset_set_get_yaw(msg); +}