![](/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/common/mavlink_msg_hil_controls.h
- Committer:
- shimniok
- Date:
- 2018-11-30
- Revision:
- 25:bb5356402687
- Parent:
- 0:a6a169de725f
File content as of revision 25:bb5356402687:
// MESSAGE HIL_CONTROLS PACKING #define MAVLINK_MSG_ID_HIL_CONTROLS 68 typedef struct __mavlink_hil_controls_t { uint64_t time_us; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) float roll_ailerons; ///< Control output -3 .. 1 float pitch_elevator; ///< Control output -1 .. 1 float yaw_rudder; ///< Control output -1 .. 1 float throttle; ///< Throttle 0 .. 1 uint8_t mode; ///< System mode (MAV_MODE) uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE) } mavlink_hil_controls_t; /** * @brief Pack a hil_controls 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 time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param roll_ailerons Control output -3 .. 1 * @param pitch_elevator Control output -1 .. 1 * @param yaw_rudder Control output -1 .. 1 * @param throttle Throttle 0 .. 1 * @param mode System mode (MAV_MODE) * @param nav_mode Navigation mode (MAV_NAV_MODE) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) i += put_float_by_index(roll_ailerons, i, msg->payload); // Control output -3 .. 1 i += put_float_by_index(pitch_elevator, i, msg->payload); // Control output -1 .. 1 i += put_float_by_index(yaw_rudder, i, msg->payload); // Control output -1 .. 1 i += put_float_by_index(throttle, i, msg->payload); // Throttle 0 .. 1 i += put_uint8_t_by_index(mode, i, msg->payload); // System mode (MAV_MODE) i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode (MAV_NAV_MODE) return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a hil_controls 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 time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param roll_ailerons Control output -3 .. 1 * @param pitch_elevator Control output -1 .. 1 * @param yaw_rudder Control output -1 .. 1 * @param throttle Throttle 0 .. 1 * @param mode System mode (MAV_MODE) * @param nav_mode Navigation mode (MAV_NAV_MODE) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) i += put_float_by_index(roll_ailerons, i, msg->payload); // Control output -3 .. 1 i += put_float_by_index(pitch_elevator, i, msg->payload); // Control output -1 .. 1 i += put_float_by_index(yaw_rudder, i, msg->payload); // Control output -1 .. 1 i += put_float_by_index(throttle, i, msg->payload); // Throttle 0 .. 1 i += put_uint8_t_by_index(mode, i, msg->payload); // System mode (MAV_MODE) i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode (MAV_NAV_MODE) return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a hil_controls 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 hil_controls C-struct to read the message contents from */ static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls) { return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_us, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->mode, hil_controls->nav_mode); } /** * @brief Send a hil_controls message * @param chan MAVLink channel to send the message * * @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param roll_ailerons Control output -3 .. 1 * @param pitch_elevator Control output -1 .. 1 * @param yaw_rudder Control output -1 .. 1 * @param throttle Throttle 0 .. 1 * @param mode System mode (MAV_MODE) * @param nav_mode Navigation mode (MAV_NAV_MODE) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode) { mavlink_message_t msg; mavlink_msg_hil_controls_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode); mavlink_send_uart(chan, &msg); } #endif // MESSAGE HIL_CONTROLS UNPACKING /** * @brief Get field time_us from hil_controls message * * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) */ static inline uint64_t mavlink_msg_hil_controls_get_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 roll_ailerons from hil_controls message * * @return Control output -3 .. 1 */ static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(uint64_t))[0]; r.b[2] = (msg->payload+sizeof(uint64_t))[1]; r.b[1] = (msg->payload+sizeof(uint64_t))[2]; r.b[0] = (msg->payload+sizeof(uint64_t))[3]; return (float)r.f; } /** * @brief Get field pitch_elevator from hil_controls message * * @return Control output -1 .. 1 */ static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field yaw_rudder from hil_controls message * * @return Control output -1 .. 1 */ static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field throttle from hil_controls message * * @return Throttle 0 .. 1 */ static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field mode from hil_controls message * * @return System mode (MAV_MODE) */ static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg) { return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; } /** * @brief Get field nav_mode from hil_controls message * * @return Navigation mode (MAV_NAV_MODE) */ static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg) { return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0]; } /** * @brief Decode a hil_controls message into a struct * * @param msg The message to decode * @param hil_controls C-struct to decode the message contents into */ static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls) { hil_controls->time_us = mavlink_msg_hil_controls_get_time_us(msg); hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg); hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg); hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg); hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg); hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg); hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg); }