![](/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_visual_odometry.h
- Revision:
- 0:a6a169de725f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/pixhawk/mavlink_msg_visual_odometry.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,268 @@ +// MESSAGE VISUAL_ODOMETRY PACKING + +#define MAVLINK_MSG_ID_VISUAL_ODOMETRY 180 + +typedef struct __mavlink_visual_odometry_t +{ + uint64_t frame1_time_us; ///< Time at which frame 1 was captured (in microseconds since unix epoch) + uint64_t frame2_time_us; ///< Time at which frame 2 was captured (in microseconds since unix epoch) + float x; ///< Relative X position + float y; ///< Relative Y position + float z; ///< Relative Z position + float roll; ///< Relative roll angle in rad + float pitch; ///< Relative pitch angle in rad + float yaw; ///< Relative yaw angle in rad + +} mavlink_visual_odometry_t; + + + +/** + * @brief Pack a visual_odometry 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 frame1_time_us Time at which frame 1 was captured (in microseconds since unix epoch) + * @param frame2_time_us Time at which frame 2 was captured (in microseconds since unix epoch) + * @param x Relative X position + * @param y Relative Y position + * @param z Relative Z position + * @param roll Relative roll angle in rad + * @param pitch Relative pitch angle in rad + * @param yaw Relative yaw angle in rad + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_visual_odometry_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t frame1_time_us, uint64_t frame2_time_us, float x, float y, float z, float roll, float pitch, float yaw) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_VISUAL_ODOMETRY; + + i += put_uint64_t_by_index(frame1_time_us, i, msg->payload); // Time at which frame 1 was captured (in microseconds since unix epoch) + i += put_uint64_t_by_index(frame2_time_us, i, msg->payload); // Time at which frame 2 was captured (in microseconds since unix epoch) + i += put_float_by_index(x, i, msg->payload); // Relative X position + i += put_float_by_index(y, i, msg->payload); // Relative Y position + i += put_float_by_index(z, i, msg->payload); // Relative Z position + i += put_float_by_index(roll, i, msg->payload); // Relative roll angle in rad + i += put_float_by_index(pitch, i, msg->payload); // Relative pitch angle in rad + i += put_float_by_index(yaw, i, msg->payload); // Relative yaw angle in rad + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a visual_odometry 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 frame1_time_us Time at which frame 1 was captured (in microseconds since unix epoch) + * @param frame2_time_us Time at which frame 2 was captured (in microseconds since unix epoch) + * @param x Relative X position + * @param y Relative Y position + * @param z Relative Z position + * @param roll Relative roll angle in rad + * @param pitch Relative pitch angle in rad + * @param yaw Relative yaw angle in rad + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_visual_odometry_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t frame1_time_us, uint64_t frame2_time_us, float x, float y, float z, float roll, float pitch, float yaw) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_VISUAL_ODOMETRY; + + i += put_uint64_t_by_index(frame1_time_us, i, msg->payload); // Time at which frame 1 was captured (in microseconds since unix epoch) + i += put_uint64_t_by_index(frame2_time_us, i, msg->payload); // Time at which frame 2 was captured (in microseconds since unix epoch) + i += put_float_by_index(x, i, msg->payload); // Relative X position + i += put_float_by_index(y, i, msg->payload); // Relative Y position + i += put_float_by_index(z, i, msg->payload); // Relative Z position + i += put_float_by_index(roll, i, msg->payload); // Relative roll angle in rad + i += put_float_by_index(pitch, i, msg->payload); // Relative pitch angle in rad + i += put_float_by_index(yaw, i, msg->payload); // Relative yaw angle in rad + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a visual_odometry 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 visual_odometry C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_visual_odometry_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_visual_odometry_t* visual_odometry) +{ + return mavlink_msg_visual_odometry_pack(system_id, component_id, msg, visual_odometry->frame1_time_us, visual_odometry->frame2_time_us, visual_odometry->x, visual_odometry->y, visual_odometry->z, visual_odometry->roll, visual_odometry->pitch, visual_odometry->yaw); +} + +/** + * @brief Send a visual_odometry message + * @param chan MAVLink channel to send the message + * + * @param frame1_time_us Time at which frame 1 was captured (in microseconds since unix epoch) + * @param frame2_time_us Time at which frame 2 was captured (in microseconds since unix epoch) + * @param x Relative X position + * @param y Relative Y position + * @param z Relative Z position + * @param roll Relative roll angle in rad + * @param pitch Relative pitch angle in rad + * @param yaw Relative yaw angle in rad + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_visual_odometry_send(mavlink_channel_t chan, uint64_t frame1_time_us, uint64_t frame2_time_us, float x, float y, float z, float roll, float pitch, float yaw) +{ + mavlink_message_t msg; + mavlink_msg_visual_odometry_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, frame1_time_us, frame2_time_us, x, y, z, roll, pitch, yaw); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE VISUAL_ODOMETRY UNPACKING + +/** + * @brief Get field frame1_time_us from visual_odometry message + * + * @return Time at which frame 1 was captured (in microseconds since unix epoch) + */ +static inline uint64_t mavlink_msg_visual_odometry_get_frame1_time_us(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 frame2_time_us from visual_odometry message + * + * @return Time at which frame 2 was captured (in microseconds since unix epoch) + */ +static inline uint64_t mavlink_msg_visual_odometry_get_frame2_time_us(const mavlink_message_t* msg) +{ + generic_64bit r; + r.b[7] = (msg->payload+sizeof(uint64_t))[0]; + r.b[6] = (msg->payload+sizeof(uint64_t))[1]; + r.b[5] = (msg->payload+sizeof(uint64_t))[2]; + r.b[4] = (msg->payload+sizeof(uint64_t))[3]; + r.b[3] = (msg->payload+sizeof(uint64_t))[4]; + r.b[2] = (msg->payload+sizeof(uint64_t))[5]; + r.b[1] = (msg->payload+sizeof(uint64_t))[6]; + r.b[0] = (msg->payload+sizeof(uint64_t))[7]; + return (uint64_t)r.ll; +} + +/** + * @brief Get field x from visual_odometry message + * + * @return Relative X position + */ +static inline float mavlink_msg_visual_odometry_get_x(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[3]; + return (float)r.f; +} + +/** + * @brief Get field y from visual_odometry message + * + * @return Relative Y position + */ +static inline float mavlink_msg_visual_odometry_get_y(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field z from visual_odometry message + * + * @return Relative Z position + */ +static inline float mavlink_msg_visual_odometry_get_z(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field roll from visual_odometry message + * + * @return Relative roll angle in rad + */ +static inline float mavlink_msg_visual_odometry_get_roll(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field pitch from visual_odometry message + * + * @return Relative pitch angle in rad + */ +static inline float mavlink_msg_visual_odometry_get_pitch(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field yaw from visual_odometry message + * + * @return Relative yaw angle in rad + */ +static inline float mavlink_msg_visual_odometry_get_yaw(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Decode a visual_odometry message into a struct + * + * @param msg The message to decode + * @param visual_odometry C-struct to decode the message contents into + */ +static inline void mavlink_msg_visual_odometry_decode(const mavlink_message_t* msg, mavlink_visual_odometry_t* visual_odometry) +{ + visual_odometry->frame1_time_us = mavlink_msg_visual_odometry_get_frame1_time_us(msg); + visual_odometry->frame2_time_us = mavlink_msg_visual_odometry_get_frame2_time_us(msg); + visual_odometry->x = mavlink_msg_visual_odometry_get_x(msg); + visual_odometry->y = mavlink_msg_visual_odometry_get_y(msg); + visual_odometry->z = mavlink_msg_visual_odometry_get_z(msg); + visual_odometry->roll = mavlink_msg_visual_odometry_get_roll(msg); + visual_odometry->pitch = mavlink_msg_visual_odometry_get_pitch(msg); + visual_odometry->yaw = mavlink_msg_visual_odometry_get_yaw(msg); +}