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/common/mavlink_msg_gps_local_origin_set.h
- Committer:
- shimniok
- Date:
- 2013-05-27
- Revision:
- 0:a6a169de725f
File content as of revision 0:a6a169de725f:
// MESSAGE GPS_LOCAL_ORIGIN_SET PACKING #define MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET 49 typedef struct __mavlink_gps_local_origin_set_t { int32_t latitude; ///< Latitude (WGS84), expressed as * 1E7 int32_t longitude; ///< Longitude (WGS84), expressed as * 1E7 int32_t altitude; ///< Altitude(WGS84), expressed as * 1000 } mavlink_gps_local_origin_set_t; /** * @brief Pack a gps_local_origin_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 latitude Latitude (WGS84), expressed as * 1E7 * @param longitude Longitude (WGS84), expressed as * 1E7 * @param altitude Altitude(WGS84), expressed as * 1000 * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_gps_local_origin_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int32_t latitude, int32_t longitude, int32_t altitude) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET; i += put_int32_t_by_index(latitude, i, msg->payload); // Latitude (WGS84), expressed as * 1E7 i += put_int32_t_by_index(longitude, i, msg->payload); // Longitude (WGS84), expressed as * 1E7 i += put_int32_t_by_index(altitude, i, msg->payload); // Altitude(WGS84), expressed as * 1000 return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a gps_local_origin_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 latitude Latitude (WGS84), expressed as * 1E7 * @param longitude Longitude (WGS84), expressed as * 1E7 * @param altitude Altitude(WGS84), expressed as * 1000 * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_gps_local_origin_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int32_t latitude, int32_t longitude, int32_t altitude) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET; i += put_int32_t_by_index(latitude, i, msg->payload); // Latitude (WGS84), expressed as * 1E7 i += put_int32_t_by_index(longitude, i, msg->payload); // Longitude (WGS84), expressed as * 1E7 i += put_int32_t_by_index(altitude, i, msg->payload); // Altitude(WGS84), expressed as * 1000 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a gps_local_origin_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 gps_local_origin_set C-struct to read the message contents from */ static inline uint16_t mavlink_msg_gps_local_origin_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_local_origin_set_t* gps_local_origin_set) { return mavlink_msg_gps_local_origin_set_pack(system_id, component_id, msg, gps_local_origin_set->latitude, gps_local_origin_set->longitude, gps_local_origin_set->altitude); } /** * @brief Send a gps_local_origin_set message * @param chan MAVLink channel to send the message * * @param latitude Latitude (WGS84), expressed as * 1E7 * @param longitude Longitude (WGS84), expressed as * 1E7 * @param altitude Altitude(WGS84), expressed as * 1000 */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_gps_local_origin_set_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude) { mavlink_message_t msg; mavlink_msg_gps_local_origin_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, latitude, longitude, altitude); mavlink_send_uart(chan, &msg); } #endif // MESSAGE GPS_LOCAL_ORIGIN_SET UNPACKING /** * @brief Get field latitude from gps_local_origin_set message * * @return Latitude (WGS84), expressed as * 1E7 */ static inline int32_t mavlink_msg_gps_local_origin_set_get_latitude(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 (int32_t)r.i; } /** * @brief Get field longitude from gps_local_origin_set message * * @return Longitude (WGS84), expressed as * 1E7 */ static inline int32_t mavlink_msg_gps_local_origin_set_get_longitude(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(int32_t))[0]; r.b[2] = (msg->payload+sizeof(int32_t))[1]; r.b[1] = (msg->payload+sizeof(int32_t))[2]; r.b[0] = (msg->payload+sizeof(int32_t))[3]; return (int32_t)r.i; } /** * @brief Get field altitude from gps_local_origin_set message * * @return Altitude(WGS84), expressed as * 1000 */ static inline int32_t mavlink_msg_gps_local_origin_set_get_altitude(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[0]; r.b[2] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[1]; r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[2]; r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[3]; return (int32_t)r.i; } /** * @brief Decode a gps_local_origin_set message into a struct * * @param msg The message to decode * @param gps_local_origin_set C-struct to decode the message contents into */ static inline void mavlink_msg_gps_local_origin_set_decode(const mavlink_message_t* msg, mavlink_gps_local_origin_set_t* gps_local_origin_set) { gps_local_origin_set->latitude = mavlink_msg_gps_local_origin_set_get_latitude(msg); gps_local_origin_set->longitude = mavlink_msg_gps_local_origin_set_get_longitude(msg); gps_local_origin_set->altitude = mavlink_msg_gps_local_origin_set_get_altitude(msg); }