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_roll_pitch_yaw_speed_thrust_setpoint.h
- Committer:
- shimniok
- Date:
- 2018-11-30
- Revision:
- 25:bb5356402687
- Parent:
- 0:a6a169de725f
File content as of revision 25:bb5356402687:
// MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT PACKING #define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT 58 typedef struct __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t { uint64_t time_us; ///< Timestamp in micro seconds since unix epoch float roll_speed; ///< Desired roll angular speed in rad/s float pitch_speed; ///< Desired pitch angular speed in rad/s float yaw_speed; ///< Desired yaw angular speed in rad/s float thrust; ///< Collective thrust, normalized to 0 .. 1 } mavlink_roll_pitch_yaw_speed_thrust_setpoint_t; /** * @brief Pack a roll_pitch_yaw_speed_thrust_setpoint 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 in micro seconds since unix epoch * @param roll_speed Desired roll angular speed in rad/s * @param pitch_speed Desired pitch angular speed in rad/s * @param yaw_speed Desired yaw angular speed in rad/s * @param thrust Collective thrust, normalized to 0 .. 1 * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT; i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp in micro seconds since unix epoch i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1 return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a roll_pitch_yaw_speed_thrust_setpoint 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 in micro seconds since unix epoch * @param roll_speed Desired roll angular speed in rad/s * @param pitch_speed Desired pitch angular speed in rad/s * @param yaw_speed Desired yaw angular speed in rad/s * @param thrust Collective thrust, normalized to 0 .. 1 * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT; i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp in micro seconds since unix epoch i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a roll_pitch_yaw_speed_thrust_setpoint 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 roll_pitch_yaw_speed_thrust_setpoint C-struct to read the message contents from */ static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint) { return mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_speed_thrust_setpoint->time_us, roll_pitch_yaw_speed_thrust_setpoint->roll_speed, roll_pitch_yaw_speed_thrust_setpoint->pitch_speed, roll_pitch_yaw_speed_thrust_setpoint->yaw_speed, roll_pitch_yaw_speed_thrust_setpoint->thrust); } /** * @brief Send a roll_pitch_yaw_speed_thrust_setpoint message * @param chan MAVLink channel to send the message * * @param time_us Timestamp in micro seconds since unix epoch * @param roll_speed Desired roll angular speed in rad/s * @param pitch_speed Desired pitch angular speed in rad/s * @param yaw_speed Desired yaw angular speed in rad/s * @param thrust Collective thrust, normalized to 0 .. 1 */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(mavlink_channel_t chan, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust) { mavlink_message_t msg; mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_us, roll_speed, pitch_speed, yaw_speed, thrust); mavlink_send_uart(chan, &msg); } #endif // MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT UNPACKING /** * @brief Get field time_us from roll_pitch_yaw_speed_thrust_setpoint message * * @return Timestamp in micro seconds since unix epoch */ static inline uint64_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_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_speed from roll_pitch_yaw_speed_thrust_setpoint message * * @return Desired roll angular speed in rad/s */ static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(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_speed from roll_pitch_yaw_speed_thrust_setpoint message * * @return Desired pitch angular speed in rad/s */ static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(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_speed from roll_pitch_yaw_speed_thrust_setpoint message * * @return Desired yaw angular speed in rad/s */ static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(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 thrust from roll_pitch_yaw_speed_thrust_setpoint message * * @return Collective thrust, normalized to 0 .. 1 */ static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(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 Decode a roll_pitch_yaw_speed_thrust_setpoint message into a struct * * @param msg The message to decode * @param roll_pitch_yaw_speed_thrust_setpoint C-struct to decode the message contents into */ static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint) { roll_pitch_yaw_speed_thrust_setpoint->time_us = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_us(msg); roll_pitch_yaw_speed_thrust_setpoint->roll_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(msg); roll_pitch_yaw_speed_thrust_setpoint->pitch_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(msg); roll_pitch_yaw_speed_thrust_setpoint->yaw_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(msg); roll_pitch_yaw_speed_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(msg); }