![](/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
MAVlink/include/slugs/mavlink_msg_diagnostic.h
- Committer:
- shimniok
- Date:
- 2013-05-27
- Revision:
- 0:a6a169de725f
File content as of revision 0:a6a169de725f:
// MESSAGE DIAGNOSTIC PACKING #define MAVLINK_MSG_ID_DIAGNOSTIC 173 typedef struct __mavlink_diagnostic_t { float diagFl1; ///< Diagnostic float 1 float diagFl2; ///< Diagnostic float 2 float diagFl3; ///< Diagnostic float 3 int16_t diagSh1; ///< Diagnostic short 1 int16_t diagSh2; ///< Diagnostic short 2 int16_t diagSh3; ///< Diagnostic short 3 } mavlink_diagnostic_t; /** * @brief Pack a diagnostic 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 diagFl1 Diagnostic float 1 * @param diagFl2 Diagnostic float 2 * @param diagFl3 Diagnostic float 3 * @param diagSh1 Diagnostic short 1 * @param diagSh2 Diagnostic short 2 * @param diagSh3 Diagnostic short 3 * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_diagnostic_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC; i += put_float_by_index(diagFl1, i, msg->payload); // Diagnostic float 1 i += put_float_by_index(diagFl2, i, msg->payload); // Diagnostic float 2 i += put_float_by_index(diagFl3, i, msg->payload); // Diagnostic float 3 i += put_int16_t_by_index(diagSh1, i, msg->payload); // Diagnostic short 1 i += put_int16_t_by_index(diagSh2, i, msg->payload); // Diagnostic short 2 i += put_int16_t_by_index(diagSh3, i, msg->payload); // Diagnostic short 3 return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a diagnostic 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 diagFl1 Diagnostic float 1 * @param diagFl2 Diagnostic float 2 * @param diagFl3 Diagnostic float 3 * @param diagSh1 Diagnostic short 1 * @param diagSh2 Diagnostic short 2 * @param diagSh3 Diagnostic short 3 * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_diagnostic_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC; i += put_float_by_index(diagFl1, i, msg->payload); // Diagnostic float 1 i += put_float_by_index(diagFl2, i, msg->payload); // Diagnostic float 2 i += put_float_by_index(diagFl3, i, msg->payload); // Diagnostic float 3 i += put_int16_t_by_index(diagSh1, i, msg->payload); // Diagnostic short 1 i += put_int16_t_by_index(diagSh2, i, msg->payload); // Diagnostic short 2 i += put_int16_t_by_index(diagSh3, i, msg->payload); // Diagnostic short 3 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a diagnostic 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 diagnostic C-struct to read the message contents from */ static inline uint16_t mavlink_msg_diagnostic_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_diagnostic_t* diagnostic) { return mavlink_msg_diagnostic_pack(system_id, component_id, msg, diagnostic->diagFl1, diagnostic->diagFl2, diagnostic->diagFl3, diagnostic->diagSh1, diagnostic->diagSh2, diagnostic->diagSh3); } /** * @brief Send a diagnostic message * @param chan MAVLink channel to send the message * * @param diagFl1 Diagnostic float 1 * @param diagFl2 Diagnostic float 2 * @param diagFl3 Diagnostic float 3 * @param diagSh1 Diagnostic short 1 * @param diagSh2 Diagnostic short 2 * @param diagSh3 Diagnostic short 3 */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_diagnostic_send(mavlink_channel_t chan, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3) { mavlink_message_t msg; mavlink_msg_diagnostic_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, diagFl1, diagFl2, diagFl3, diagSh1, diagSh2, diagSh3); mavlink_send_uart(chan, &msg); } #endif // MESSAGE DIAGNOSTIC UNPACKING /** * @brief Get field diagFl1 from diagnostic message * * @return Diagnostic float 1 */ static inline float mavlink_msg_diagnostic_get_diagFl1(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 diagFl2 from diagnostic message * * @return Diagnostic float 2 */ static inline float mavlink_msg_diagnostic_get_diagFl2(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 diagFl3 from diagnostic message * * @return Diagnostic float 3 */ static inline float mavlink_msg_diagnostic_get_diagFl3(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0]; r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1]; r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2]; r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field diagSh1 from diagnostic message * * @return Diagnostic short 1 */ static inline int16_t mavlink_msg_diagnostic_get_diagSh1(const mavlink_message_t* msg) { generic_16bit r; r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0]; r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1]; return (int16_t)r.s; } /** * @brief Get field diagSh2 from diagnostic message * * @return Diagnostic short 2 */ static inline int16_t mavlink_msg_diagnostic_get_diagSh2(const mavlink_message_t* msg) { generic_16bit r; r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int16_t))[0]; r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int16_t))[1]; return (int16_t)r.s; } /** * @brief Get field diagSh3 from diagnostic message * * @return Diagnostic short 3 */ static inline int16_t mavlink_msg_diagnostic_get_diagSh3(const mavlink_message_t* msg) { generic_16bit r; r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[0]; r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[1]; return (int16_t)r.s; } /** * @brief Decode a diagnostic message into a struct * * @param msg The message to decode * @param diagnostic C-struct to decode the message contents into */ static inline void mavlink_msg_diagnostic_decode(const mavlink_message_t* msg, mavlink_diagnostic_t* diagnostic) { diagnostic->diagFl1 = mavlink_msg_diagnostic_get_diagFl1(msg); diagnostic->diagFl2 = mavlink_msg_diagnostic_get_diagFl2(msg); diagnostic->diagFl3 = mavlink_msg_diagnostic_get_diagFl3(msg); diagnostic->diagSh1 = mavlink_msg_diagnostic_get_diagSh1(msg); diagnostic->diagSh2 = mavlink_msg_diagnostic_get_diagSh2(msg); diagnostic->diagSh3 = mavlink_msg_diagnostic_get_diagSh3(msg); }