![](/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_waypoint_count.h
- Committer:
- shimniok
- Date:
- 2018-11-30
- Revision:
- 25:bb5356402687
- Parent:
- 0:a6a169de725f
File content as of revision 25:bb5356402687:
// MESSAGE WAYPOINT_COUNT PACKING #define MAVLINK_MSG_ID_WAYPOINT_COUNT 44 typedef struct __mavlink_waypoint_count_t { uint8_t target_system; ///< System ID uint8_t target_component; ///< Component ID uint16_t count; ///< Number of Waypoints in the Sequence } mavlink_waypoint_count_t; /** * @brief Pack a waypoint_count 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 target_system System ID * @param target_component Component ID * @param count Number of Waypoints in the Sequence * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_waypoint_count_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t count) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_WAYPOINT_COUNT; i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID i += put_uint16_t_by_index(count, i, msg->payload); // Number of Waypoints in the Sequence return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a waypoint_count 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 target_system System ID * @param target_component Component ID * @param count Number of Waypoints in the Sequence * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_waypoint_count_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t count) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_WAYPOINT_COUNT; i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID i += put_uint16_t_by_index(count, i, msg->payload); // Number of Waypoints in the Sequence return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a waypoint_count 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 waypoint_count C-struct to read the message contents from */ static inline uint16_t mavlink_msg_waypoint_count_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_count_t* waypoint_count) { return mavlink_msg_waypoint_count_pack(system_id, component_id, msg, waypoint_count->target_system, waypoint_count->target_component, waypoint_count->count); } /** * @brief Send a waypoint_count message * @param chan MAVLink channel to send the message * * @param target_system System ID * @param target_component Component ID * @param count Number of Waypoints in the Sequence */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_waypoint_count_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t count) { mavlink_message_t msg; mavlink_msg_waypoint_count_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, count); mavlink_send_uart(chan, &msg); } #endif // MESSAGE WAYPOINT_COUNT UNPACKING /** * @brief Get field target_system from waypoint_count message * * @return System ID */ static inline uint8_t mavlink_msg_waypoint_count_get_target_system(const mavlink_message_t* msg) { return (uint8_t)(msg->payload)[0]; } /** * @brief Get field target_component from waypoint_count message * * @return Component ID */ static inline uint8_t mavlink_msg_waypoint_count_get_target_component(const mavlink_message_t* msg) { return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; } /** * @brief Get field count from waypoint_count message * * @return Number of Waypoints in the Sequence */ static inline uint16_t mavlink_msg_waypoint_count_get_count(const mavlink_message_t* msg) { generic_16bit r; r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; return (uint16_t)r.s; } /** * @brief Decode a waypoint_count message into a struct * * @param msg The message to decode * @param waypoint_count C-struct to decode the message contents into */ static inline void mavlink_msg_waypoint_count_decode(const mavlink_message_t* msg, mavlink_waypoint_count_t* waypoint_count) { waypoint_count->target_system = mavlink_msg_waypoint_count_get_target_system(msg); waypoint_count->target_component = mavlink_msg_waypoint_count_get_target_component(msg); waypoint_count->count = mavlink_msg_waypoint_count_get_count(msg); }