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/ualberta/mavlink_msg_nav_filter_bias.h
- Committer:
- shimniok
- Date:
- 2018-11-30
- Revision:
- 25:bb5356402687
- Parent:
- 0:a6a169de725f
File content as of revision 25:bb5356402687:
// MESSAGE NAV_FILTER_BIAS PACKING #define MAVLINK_MSG_ID_NAV_FILTER_BIAS 220 typedef struct __mavlink_nav_filter_bias_t { uint64_t usec; ///< Timestamp (microseconds) float accel_0; ///< b_f[0] float accel_1; ///< b_f[1] float accel_2; ///< b_f[2] float gyro_0; ///< b_f[0] float gyro_1; ///< b_f[1] float gyro_2; ///< b_f[2] } mavlink_nav_filter_bias_t; /** * @brief Pack a nav_filter_bias 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 usec Timestamp (microseconds) * @param accel_0 b_f[0] * @param accel_1 b_f[1] * @param accel_2 b_f[2] * @param gyro_0 b_f[0] * @param gyro_1 b_f[1] * @param gyro_2 b_f[2] * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_nav_filter_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float accel_0, float accel_1, float accel_2, float gyro_0, float gyro_1, float gyro_2) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_NAV_FILTER_BIAS; i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds) i += put_float_by_index(accel_0, i, msg->payload); // b_f[0] i += put_float_by_index(accel_1, i, msg->payload); // b_f[1] i += put_float_by_index(accel_2, i, msg->payload); // b_f[2] i += put_float_by_index(gyro_0, i, msg->payload); // b_f[0] i += put_float_by_index(gyro_1, i, msg->payload); // b_f[1] i += put_float_by_index(gyro_2, i, msg->payload); // b_f[2] return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a nav_filter_bias 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 usec Timestamp (microseconds) * @param accel_0 b_f[0] * @param accel_1 b_f[1] * @param accel_2 b_f[2] * @param gyro_0 b_f[0] * @param gyro_1 b_f[1] * @param gyro_2 b_f[2] * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_nav_filter_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float accel_0, float accel_1, float accel_2, float gyro_0, float gyro_1, float gyro_2) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_NAV_FILTER_BIAS; i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds) i += put_float_by_index(accel_0, i, msg->payload); // b_f[0] i += put_float_by_index(accel_1, i, msg->payload); // b_f[1] i += put_float_by_index(accel_2, i, msg->payload); // b_f[2] i += put_float_by_index(gyro_0, i, msg->payload); // b_f[0] i += put_float_by_index(gyro_1, i, msg->payload); // b_f[1] i += put_float_by_index(gyro_2, i, msg->payload); // b_f[2] return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a nav_filter_bias 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 nav_filter_bias C-struct to read the message contents from */ static inline uint16_t mavlink_msg_nav_filter_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_filter_bias_t* nav_filter_bias) { return mavlink_msg_nav_filter_bias_pack(system_id, component_id, msg, nav_filter_bias->usec, nav_filter_bias->accel_0, nav_filter_bias->accel_1, nav_filter_bias->accel_2, nav_filter_bias->gyro_0, nav_filter_bias->gyro_1, nav_filter_bias->gyro_2); } /** * @brief Send a nav_filter_bias message * @param chan MAVLink channel to send the message * * @param usec Timestamp (microseconds) * @param accel_0 b_f[0] * @param accel_1 b_f[1] * @param accel_2 b_f[2] * @param gyro_0 b_f[0] * @param gyro_1 b_f[1] * @param gyro_2 b_f[2] */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_nav_filter_bias_send(mavlink_channel_t chan, uint64_t usec, float accel_0, float accel_1, float accel_2, float gyro_0, float gyro_1, float gyro_2) { mavlink_message_t msg; mavlink_msg_nav_filter_bias_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, accel_0, accel_1, accel_2, gyro_0, gyro_1, gyro_2); mavlink_send_uart(chan, &msg); } #endif // MESSAGE NAV_FILTER_BIAS UNPACKING /** * @brief Get field usec from nav_filter_bias message * * @return Timestamp (microseconds) */ static inline uint64_t mavlink_msg_nav_filter_bias_get_usec(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 accel_0 from nav_filter_bias message * * @return b_f[0] */ static inline float mavlink_msg_nav_filter_bias_get_accel_0(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 accel_1 from nav_filter_bias message * * @return b_f[1] */ static inline float mavlink_msg_nav_filter_bias_get_accel_1(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 accel_2 from nav_filter_bias message * * @return b_f[2] */ static inline float mavlink_msg_nav_filter_bias_get_accel_2(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 gyro_0 from nav_filter_bias message * * @return b_f[0] */ static inline float mavlink_msg_nav_filter_bias_get_gyro_0(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 gyro_1 from nav_filter_bias message * * @return b_f[1] */ static inline float mavlink_msg_nav_filter_bias_get_gyro_1(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field gyro_2 from nav_filter_bias message * * @return b_f[2] */ static inline float mavlink_msg_nav_filter_bias_get_gyro_2(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; return (float)r.f; } /** * @brief Decode a nav_filter_bias message into a struct * * @param msg The message to decode * @param nav_filter_bias C-struct to decode the message contents into */ static inline void mavlink_msg_nav_filter_bias_decode(const mavlink_message_t* msg, mavlink_nav_filter_bias_t* nav_filter_bias) { nav_filter_bias->usec = mavlink_msg_nav_filter_bias_get_usec(msg); nav_filter_bias->accel_0 = mavlink_msg_nav_filter_bias_get_accel_0(msg); nav_filter_bias->accel_1 = mavlink_msg_nav_filter_bias_get_accel_1(msg); nav_filter_bias->accel_2 = mavlink_msg_nav_filter_bias_get_accel_2(msg); nav_filter_bias->gyro_0 = mavlink_msg_nav_filter_bias_get_gyro_0(msg); nav_filter_bias->gyro_1 = mavlink_msg_nav_filter_bias_get_gyro_1(msg); nav_filter_bias->gyro_2 = mavlink_msg_nav_filter_bias_get_gyro_2(msg); }