![](/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_slugs_navigation.h
- Committer:
- shimniok
- Date:
- 2013-05-27
- Revision:
- 0:a6a169de725f
File content as of revision 0:a6a169de725f:
// MESSAGE SLUGS_NAVIGATION PACKING #define MAVLINK_MSG_ID_SLUGS_NAVIGATION 176 typedef struct __mavlink_slugs_navigation_t { float u_m; ///< Measured Airspeed prior to the Nav Filter float phi_c; ///< Commanded Roll float theta_c; ///< Commanded Pitch float psiDot_c; ///< Commanded Turn rate float ay_body; ///< Y component of the body acceleration float totalDist; ///< Total Distance to Run on this leg of Navigation float dist2Go; ///< Remaining distance to Run on this leg of Navigation uint8_t fromWP; ///< Origin WP uint8_t toWP; ///< Destination WP } mavlink_slugs_navigation_t; /** * @brief Pack a slugs_navigation 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 u_m Measured Airspeed prior to the Nav Filter * @param phi_c Commanded Roll * @param theta_c Commanded Pitch * @param psiDot_c Commanded Turn rate * @param ay_body Y component of the body acceleration * @param totalDist Total Distance to Run on this leg of Navigation * @param dist2Go Remaining distance to Run on this leg of Navigation * @param fromWP Origin WP * @param toWP Destination WP * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_slugs_navigation_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION; i += put_float_by_index(u_m, i, msg->payload); // Measured Airspeed prior to the Nav Filter i += put_float_by_index(phi_c, i, msg->payload); // Commanded Roll i += put_float_by_index(theta_c, i, msg->payload); // Commanded Pitch i += put_float_by_index(psiDot_c, i, msg->payload); // Commanded Turn rate i += put_float_by_index(ay_body, i, msg->payload); // Y component of the body acceleration i += put_float_by_index(totalDist, i, msg->payload); // Total Distance to Run on this leg of Navigation i += put_float_by_index(dist2Go, i, msg->payload); // Remaining distance to Run on this leg of Navigation i += put_uint8_t_by_index(fromWP, i, msg->payload); // Origin WP i += put_uint8_t_by_index(toWP, i, msg->payload); // Destination WP return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a slugs_navigation 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 u_m Measured Airspeed prior to the Nav Filter * @param phi_c Commanded Roll * @param theta_c Commanded Pitch * @param psiDot_c Commanded Turn rate * @param ay_body Y component of the body acceleration * @param totalDist Total Distance to Run on this leg of Navigation * @param dist2Go Remaining distance to Run on this leg of Navigation * @param fromWP Origin WP * @param toWP Destination WP * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_slugs_navigation_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION; i += put_float_by_index(u_m, i, msg->payload); // Measured Airspeed prior to the Nav Filter i += put_float_by_index(phi_c, i, msg->payload); // Commanded Roll i += put_float_by_index(theta_c, i, msg->payload); // Commanded Pitch i += put_float_by_index(psiDot_c, i, msg->payload); // Commanded Turn rate i += put_float_by_index(ay_body, i, msg->payload); // Y component of the body acceleration i += put_float_by_index(totalDist, i, msg->payload); // Total Distance to Run on this leg of Navigation i += put_float_by_index(dist2Go, i, msg->payload); // Remaining distance to Run on this leg of Navigation i += put_uint8_t_by_index(fromWP, i, msg->payload); // Origin WP i += put_uint8_t_by_index(toWP, i, msg->payload); // Destination WP return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a slugs_navigation 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 slugs_navigation C-struct to read the message contents from */ static inline uint16_t mavlink_msg_slugs_navigation_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_slugs_navigation_t* slugs_navigation) { return mavlink_msg_slugs_navigation_pack(system_id, component_id, msg, slugs_navigation->u_m, slugs_navigation->phi_c, slugs_navigation->theta_c, slugs_navigation->psiDot_c, slugs_navigation->ay_body, slugs_navigation->totalDist, slugs_navigation->dist2Go, slugs_navigation->fromWP, slugs_navigation->toWP); } /** * @brief Send a slugs_navigation message * @param chan MAVLink channel to send the message * * @param u_m Measured Airspeed prior to the Nav Filter * @param phi_c Commanded Roll * @param theta_c Commanded Pitch * @param psiDot_c Commanded Turn rate * @param ay_body Y component of the body acceleration * @param totalDist Total Distance to Run on this leg of Navigation * @param dist2Go Remaining distance to Run on this leg of Navigation * @param fromWP Origin WP * @param toWP Destination WP */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_slugs_navigation_send(mavlink_channel_t chan, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP) { mavlink_message_t msg; mavlink_msg_slugs_navigation_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, u_m, phi_c, theta_c, psiDot_c, ay_body, totalDist, dist2Go, fromWP, toWP); mavlink_send_uart(chan, &msg); } #endif // MESSAGE SLUGS_NAVIGATION UNPACKING /** * @brief Get field u_m from slugs_navigation message * * @return Measured Airspeed prior to the Nav Filter */ static inline float mavlink_msg_slugs_navigation_get_u_m(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 phi_c from slugs_navigation message * * @return Commanded Roll */ static inline float mavlink_msg_slugs_navigation_get_phi_c(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 theta_c from slugs_navigation message * * @return Commanded Pitch */ static inline float mavlink_msg_slugs_navigation_get_theta_c(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 psiDot_c from slugs_navigation message * * @return Commanded Turn rate */ static inline float mavlink_msg_slugs_navigation_get_psiDot_c(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0]; r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1]; r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2]; r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field ay_body from slugs_navigation message * * @return Y component of the body acceleration */ static inline float mavlink_msg_slugs_navigation_get_ay_body(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field totalDist from slugs_navigation message * * @return Total Distance to Run on this leg of Navigation */ static inline float mavlink_msg_slugs_navigation_get_totalDist(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field dist2Go from slugs_navigation message * * @return Remaining distance to Run on this leg of Navigation */ static inline float mavlink_msg_slugs_navigation_get_dist2Go(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field fromWP from slugs_navigation message * * @return Origin WP */ static inline uint8_t mavlink_msg_slugs_navigation_get_fromWP(const mavlink_message_t* msg) { return (uint8_t)(msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; } /** * @brief Get field toWP from slugs_navigation message * * @return Destination WP */ static inline uint8_t mavlink_msg_slugs_navigation_get_toWP(const mavlink_message_t* msg) { return (uint8_t)(msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0]; } /** * @brief Decode a slugs_navigation message into a struct * * @param msg The message to decode * @param slugs_navigation C-struct to decode the message contents into */ static inline void mavlink_msg_slugs_navigation_decode(const mavlink_message_t* msg, mavlink_slugs_navigation_t* slugs_navigation) { slugs_navigation->u_m = mavlink_msg_slugs_navigation_get_u_m(msg); slugs_navigation->phi_c = mavlink_msg_slugs_navigation_get_phi_c(msg); slugs_navigation->theta_c = mavlink_msg_slugs_navigation_get_theta_c(msg); slugs_navigation->psiDot_c = mavlink_msg_slugs_navigation_get_psiDot_c(msg); slugs_navigation->ay_body = mavlink_msg_slugs_navigation_get_ay_body(msg); slugs_navigation->totalDist = mavlink_msg_slugs_navigation_get_totalDist(msg); slugs_navigation->dist2Go = mavlink_msg_slugs_navigation_get_dist2Go(msg); slugs_navigation->fromWP = mavlink_msg_slugs_navigation_get_fromWP(msg); slugs_navigation->toWP = mavlink_msg_slugs_navigation_get_toWP(msg); }