![](/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_vfr_hud.h
- Committer:
- shimniok
- Date:
- 2018-11-30
- Revision:
- 25:bb5356402687
- Parent:
- 0:a6a169de725f
File content as of revision 25:bb5356402687:
// MESSAGE VFR_HUD PACKING #define MAVLINK_MSG_ID_VFR_HUD 74 typedef struct __mavlink_vfr_hud_t { float airspeed; ///< Current airspeed in m/s float groundspeed; ///< Current ground speed in m/s int16_t heading; ///< Current heading in degrees, in compass units (0..360, 0=north) uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100 float alt; ///< Current altitude (MSL), in meters float climb; ///< Current climb rate in meters/second } mavlink_vfr_hud_t; /** * @brief Pack a vfr_hud 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 airspeed Current airspeed in m/s * @param groundspeed Current ground speed in m/s * @param heading Current heading in degrees, in compass units (0..360, 0=north) * @param throttle Current throttle setting in integer percent, 0 to 100 * @param alt Current altitude (MSL), in meters * @param climb Current climb rate in meters/second * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_VFR_HUD; i += put_float_by_index(airspeed, i, msg->payload); // Current airspeed in m/s i += put_float_by_index(groundspeed, i, msg->payload); // Current ground speed in m/s i += put_int16_t_by_index(heading, i, msg->payload); // Current heading in degrees, in compass units (0..360, 0=north) i += put_uint16_t_by_index(throttle, i, msg->payload); // Current throttle setting in integer percent, 0 to 100 i += put_float_by_index(alt, i, msg->payload); // Current altitude (MSL), in meters i += put_float_by_index(climb, i, msg->payload); // Current climb rate in meters/second return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a vfr_hud 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 airspeed Current airspeed in m/s * @param groundspeed Current ground speed in m/s * @param heading Current heading in degrees, in compass units (0..360, 0=north) * @param throttle Current throttle setting in integer percent, 0 to 100 * @param alt Current altitude (MSL), in meters * @param climb Current climb rate in meters/second * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_VFR_HUD; i += put_float_by_index(airspeed, i, msg->payload); // Current airspeed in m/s i += put_float_by_index(groundspeed, i, msg->payload); // Current ground speed in m/s i += put_int16_t_by_index(heading, i, msg->payload); // Current heading in degrees, in compass units (0..360, 0=north) i += put_uint16_t_by_index(throttle, i, msg->payload); // Current throttle setting in integer percent, 0 to 100 i += put_float_by_index(alt, i, msg->payload); // Current altitude (MSL), in meters i += put_float_by_index(climb, i, msg->payload); // Current climb rate in meters/second return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a vfr_hud 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 vfr_hud C-struct to read the message contents from */ static inline uint16_t mavlink_msg_vfr_hud_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud) { return mavlink_msg_vfr_hud_pack(system_id, component_id, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb); } /** * @brief Send a vfr_hud message * @param chan MAVLink channel to send the message * * @param airspeed Current airspeed in m/s * @param groundspeed Current ground speed in m/s * @param heading Current heading in degrees, in compass units (0..360, 0=north) * @param throttle Current throttle setting in integer percent, 0 to 100 * @param alt Current altitude (MSL), in meters * @param climb Current climb rate in meters/second */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb) { mavlink_message_t msg; mavlink_msg_vfr_hud_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, airspeed, groundspeed, heading, throttle, alt, climb); mavlink_send_uart(chan, &msg); } #endif // MESSAGE VFR_HUD UNPACKING /** * @brief Get field airspeed from vfr_hud message * * @return Current airspeed in m/s */ static inline float mavlink_msg_vfr_hud_get_airspeed(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 groundspeed from vfr_hud message * * @return Current ground speed in m/s */ static inline float mavlink_msg_vfr_hud_get_groundspeed(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 heading from vfr_hud message * * @return Current heading in degrees, in compass units (0..360, 0=north) */ static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* msg) { generic_16bit r; r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[0]; r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[1]; return (int16_t)r.s; } /** * @brief Get field throttle from vfr_hud message * * @return Current throttle setting in integer percent, 0 to 100 */ static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t* msg) { generic_16bit r; r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[0]; r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[1]; return (uint16_t)r.s; } /** * @brief Get field alt from vfr_hud message * * @return Current altitude (MSL), in meters */ static inline float mavlink_msg_vfr_hud_get_alt(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[0]; r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[1]; r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[2]; r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[3]; return (float)r.f; } /** * @brief Get field climb from vfr_hud message * * @return Current climb rate in meters/second */ static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[0]; r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[1]; r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[2]; r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[3]; return (float)r.f; } /** * @brief Decode a vfr_hud message into a struct * * @param msg The message to decode * @param vfr_hud C-struct to decode the message contents into */ static inline void mavlink_msg_vfr_hud_decode(const mavlink_message_t* msg, mavlink_vfr_hud_t* vfr_hud) { vfr_hud->airspeed = mavlink_msg_vfr_hud_get_airspeed(msg); vfr_hud->groundspeed = mavlink_msg_vfr_hud_get_groundspeed(msg); vfr_hud->heading = mavlink_msg_vfr_hud_get_heading(msg); vfr_hud->throttle = mavlink_msg_vfr_hud_get_throttle(msg); vfr_hud->alt = mavlink_msg_vfr_hud_get_alt(msg); vfr_hud->climb = mavlink_msg_vfr_hud_get_climb(msg); }