![](/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/ualberta/mavlink_msg_radio_calibration.h
- Committer:
- shimniok
- Date:
- 2018-11-30
- Revision:
- 25:bb5356402687
- Parent:
- 0:a6a169de725f
File content as of revision 25:bb5356402687:
// MESSAGE RADIO_CALIBRATION PACKING #define MAVLINK_MSG_ID_RADIO_CALIBRATION 221 typedef struct __mavlink_radio_calibration_t { uint16_t aileron[3]; ///< Aileron setpoints: left, center, right uint16_t elevator[3]; ///< Elevator setpoints: nose down, center, nose up uint16_t rudder[3]; ///< Rudder setpoints: nose left, center, nose right uint16_t gyro[2]; ///< Tail gyro mode/gain setpoints: heading hold, rate mode uint16_t pitch[5]; ///< Pitch curve setpoints (every 25%) uint16_t throttle[5]; ///< Throttle curve setpoints (every 25%) } mavlink_radio_calibration_t; #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_AILERON_LEN 3 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_ELEVATOR_LEN 3 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_RUDDER_LEN 3 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_GYRO_LEN 2 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_PITCH_LEN 5 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_THROTTLE_LEN 5 /** * @brief Pack a radio_calibration 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 aileron Aileron setpoints: left, center, right * @param elevator Elevator setpoints: nose down, center, nose up * @param rudder Rudder setpoints: nose left, center, nose right * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode * @param pitch Pitch curve setpoints (every 25%) * @param throttle Throttle curve setpoints (every 25%) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_radio_calibration_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION; i += put_array_by_index((const int8_t*)aileron, sizeof(uint16_t)*3, i, msg->payload); // Aileron setpoints: left, center, right i += put_array_by_index((const int8_t*)elevator, sizeof(uint16_t)*3, i, msg->payload); // Elevator setpoints: nose down, center, nose up i += put_array_by_index((const int8_t*)rudder, sizeof(uint16_t)*3, i, msg->payload); // Rudder setpoints: nose left, center, nose right i += put_array_by_index((const int8_t*)gyro, sizeof(uint16_t)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode i += put_array_by_index((const int8_t*)pitch, sizeof(uint16_t)*5, i, msg->payload); // Pitch curve setpoints (every 25%) i += put_array_by_index((const int8_t*)throttle, sizeof(uint16_t)*5, i, msg->payload); // Throttle curve setpoints (every 25%) return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a radio_calibration 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 aileron Aileron setpoints: left, center, right * @param elevator Elevator setpoints: nose down, center, nose up * @param rudder Rudder setpoints: nose left, center, nose right * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode * @param pitch Pitch curve setpoints (every 25%) * @param throttle Throttle curve setpoints (every 25%) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_radio_calibration_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION; i += put_array_by_index((const int8_t*)aileron, sizeof(uint16_t)*3, i, msg->payload); // Aileron setpoints: left, center, right i += put_array_by_index((const int8_t*)elevator, sizeof(uint16_t)*3, i, msg->payload); // Elevator setpoints: nose down, center, nose up i += put_array_by_index((const int8_t*)rudder, sizeof(uint16_t)*3, i, msg->payload); // Rudder setpoints: nose left, center, nose right i += put_array_by_index((const int8_t*)gyro, sizeof(uint16_t)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode i += put_array_by_index((const int8_t*)pitch, sizeof(uint16_t)*5, i, msg->payload); // Pitch curve setpoints (every 25%) i += put_array_by_index((const int8_t*)throttle, sizeof(uint16_t)*5, i, msg->payload); // Throttle curve setpoints (every 25%) return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a radio_calibration 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 radio_calibration C-struct to read the message contents from */ static inline uint16_t mavlink_msg_radio_calibration_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_radio_calibration_t* radio_calibration) { return mavlink_msg_radio_calibration_pack(system_id, component_id, msg, radio_calibration->aileron, radio_calibration->elevator, radio_calibration->rudder, radio_calibration->gyro, radio_calibration->pitch, radio_calibration->throttle); } /** * @brief Send a radio_calibration message * @param chan MAVLink channel to send the message * * @param aileron Aileron setpoints: left, center, right * @param elevator Elevator setpoints: nose down, center, nose up * @param rudder Rudder setpoints: nose left, center, nose right * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode * @param pitch Pitch curve setpoints (every 25%) * @param throttle Throttle curve setpoints (every 25%) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_radio_calibration_send(mavlink_channel_t chan, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle) { mavlink_message_t msg; mavlink_msg_radio_calibration_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, aileron, elevator, rudder, gyro, pitch, throttle); mavlink_send_uart(chan, &msg); } #endif // MESSAGE RADIO_CALIBRATION UNPACKING /** * @brief Get field aileron from radio_calibration message * * @return Aileron setpoints: left, center, right */ static inline uint16_t mavlink_msg_radio_calibration_get_aileron(const mavlink_message_t* msg, uint16_t* r_data) { memcpy(r_data, msg->payload, sizeof(uint16_t)*3); return sizeof(uint16_t)*3; } /** * @brief Get field elevator from radio_calibration message * * @return Elevator setpoints: nose down, center, nose up */ static inline uint16_t mavlink_msg_radio_calibration_get_elevator(const mavlink_message_t* msg, uint16_t* r_data) { memcpy(r_data, msg->payload+sizeof(uint16_t)*3, sizeof(uint16_t)*3); return sizeof(uint16_t)*3; } /** * @brief Get field rudder from radio_calibration message * * @return Rudder setpoints: nose left, center, nose right */ static inline uint16_t mavlink_msg_radio_calibration_get_rudder(const mavlink_message_t* msg, uint16_t* r_data) { memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3, sizeof(uint16_t)*3); return sizeof(uint16_t)*3; } /** * @brief Get field gyro from radio_calibration message * * @return Tail gyro mode/gain setpoints: heading hold, rate mode */ static inline uint16_t mavlink_msg_radio_calibration_get_gyro(const mavlink_message_t* msg, uint16_t* r_data) { memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3, sizeof(uint16_t)*2); return sizeof(uint16_t)*2; } /** * @brief Get field pitch from radio_calibration message * * @return Pitch curve setpoints (every 25%) */ static inline uint16_t mavlink_msg_radio_calibration_get_pitch(const mavlink_message_t* msg, uint16_t* r_data) { memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*2, sizeof(uint16_t)*5); return sizeof(uint16_t)*5; } /** * @brief Get field throttle from radio_calibration message * * @return Throttle curve setpoints (every 25%) */ static inline uint16_t mavlink_msg_radio_calibration_get_throttle(const mavlink_message_t* msg, uint16_t* r_data) { memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*2+sizeof(uint16_t)*5, sizeof(uint16_t)*5); return sizeof(uint16_t)*5; } /** * @brief Decode a radio_calibration message into a struct * * @param msg The message to decode * @param radio_calibration C-struct to decode the message contents into */ static inline void mavlink_msg_radio_calibration_decode(const mavlink_message_t* msg, mavlink_radio_calibration_t* radio_calibration) { mavlink_msg_radio_calibration_get_aileron(msg, radio_calibration->aileron); mavlink_msg_radio_calibration_get_elevator(msg, radio_calibration->elevator); mavlink_msg_radio_calibration_get_rudder(msg, radio_calibration->rudder); mavlink_msg_radio_calibration_get_gyro(msg, radio_calibration->gyro); mavlink_msg_radio_calibration_get_pitch(msg, radio_calibration->pitch); mavlink_msg_radio_calibration_get_throttle(msg, radio_calibration->throttle); }