Michael Shimniok / Mbed 2 deprecated DataBus

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_command_ack.h@0:a6a169de725f, 2013-05-27 (annotated)

Committer:
shimniok
Date:
Mon May 27 13:26:03 2013 +0000
Revision:
0:a6a169de725f
Working version with priorities set and update time display

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 // MESSAGE COMMAND_ACK PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_COMMAND_ACK 76
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_command_ack_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 float command; ///< Current airspeed in m/s
shimniok 0:a6a169de725f 8 float result; ///< 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
shimniok 0:a6a169de725f 9
shimniok 0:a6a169de725f 10 } mavlink_command_ack_t;
shimniok 0:a6a169de725f 11
shimniok 0:a6a169de725f 12
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14 /**
shimniok 0:a6a169de725f 15 * @brief Pack a command_ack message
shimniok 0:a6a169de725f 16 * @param system_id ID of this system
shimniok 0:a6a169de725f 17 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 18 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 19 *
shimniok 0:a6a169de725f 20 * @param command Current airspeed in m/s
shimniok 0:a6a169de725f 21 * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
shimniok 0:a6a169de725f 22 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 23 */
shimniok 0:a6a169de725f 24 static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float command, float result)
shimniok 0:a6a169de725f 25 {
shimniok 0:a6a169de725f 26 uint16_t i = 0;
shimniok 0:a6a169de725f 27 msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
shimniok 0:a6a169de725f 28
shimniok 0:a6a169de725f 29 i += put_float_by_index(command, i, msg->payload); // Current airspeed in m/s
shimniok 0:a6a169de725f 30 i += put_float_by_index(result, i, msg->payload); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
shimniok 0:a6a169de725f 31
shimniok 0:a6a169de725f 32 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 33 }
shimniok 0:a6a169de725f 34
shimniok 0:a6a169de725f 35 /**
shimniok 0:a6a169de725f 36 * @brief Pack a command_ack message
shimniok 0:a6a169de725f 37 * @param system_id ID of this system
shimniok 0:a6a169de725f 38 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 39 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 40 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 41 * @param command Current airspeed in m/s
shimniok 0:a6a169de725f 42 * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
shimniok 0:a6a169de725f 43 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 44 */
shimniok 0:a6a169de725f 45 static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float command, float result)
shimniok 0:a6a169de725f 46 {
shimniok 0:a6a169de725f 47 uint16_t i = 0;
shimniok 0:a6a169de725f 48 msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
shimniok 0:a6a169de725f 49
shimniok 0:a6a169de725f 50 i += put_float_by_index(command, i, msg->payload); // Current airspeed in m/s
shimniok 0:a6a169de725f 51 i += put_float_by_index(result, i, msg->payload); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
shimniok 0:a6a169de725f 52
shimniok 0:a6a169de725f 53 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 54 }
shimniok 0:a6a169de725f 55
shimniok 0:a6a169de725f 56 /**
shimniok 0:a6a169de725f 57 * @brief Encode a command_ack struct into a message
shimniok 0:a6a169de725f 58 *
shimniok 0:a6a169de725f 59 * @param system_id ID of this system
shimniok 0:a6a169de725f 60 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 61 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 62 * @param command_ack C-struct to read the message contents from
shimniok 0:a6a169de725f 63 */
shimniok 0:a6a169de725f 64 static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
shimniok 0:a6a169de725f 65 {
shimniok 0:a6a169de725f 66 return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result);
shimniok 0:a6a169de725f 67 }
shimniok 0:a6a169de725f 68
shimniok 0:a6a169de725f 69 /**
shimniok 0:a6a169de725f 70 * @brief Send a command_ack message
shimniok 0:a6a169de725f 71 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 72 *
shimniok 0:a6a169de725f 73 * @param command Current airspeed in m/s
shimniok 0:a6a169de725f 74 * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
shimniok 0:a6a169de725f 75 */
shimniok 0:a6a169de725f 76 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 77
shimniok 0:a6a169de725f 78 static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float command, float result)
shimniok 0:a6a169de725f 79 {
shimniok 0:a6a169de725f 80 mavlink_message_t msg;
shimniok 0:a6a169de725f 81 mavlink_msg_command_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, command, result);
shimniok 0:a6a169de725f 82 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 83 }
shimniok 0:a6a169de725f 84
shimniok 0:a6a169de725f 85 #endif
shimniok 0:a6a169de725f 86 // MESSAGE COMMAND_ACK UNPACKING
shimniok 0:a6a169de725f 87
shimniok 0:a6a169de725f 88 /**
shimniok 0:a6a169de725f 89 * @brief Get field command from command_ack message
shimniok 0:a6a169de725f 90 *
shimniok 0:a6a169de725f 91 * @return Current airspeed in m/s
shimniok 0:a6a169de725f 92 */
shimniok 0:a6a169de725f 93 static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 94 {
shimniok 0:a6a169de725f 95 generic_32bit r;
shimniok 0:a6a169de725f 96 r.b[3] = (msg->payload)[0];
shimniok 0:a6a169de725f 97 r.b[2] = (msg->payload)[1];
shimniok 0:a6a169de725f 98 r.b[1] = (msg->payload)[2];
shimniok 0:a6a169de725f 99 r.b[0] = (msg->payload)[3];
shimniok 0:a6a169de725f 100 return (float)r.f;
shimniok 0:a6a169de725f 101 }
shimniok 0:a6a169de725f 102
shimniok 0:a6a169de725f 103 /**
shimniok 0:a6a169de725f 104 * @brief Get field result from command_ack message
shimniok 0:a6a169de725f 105 *
shimniok 0:a6a169de725f 106 * @return 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
shimniok 0:a6a169de725f 107 */
shimniok 0:a6a169de725f 108 static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 109 {
shimniok 0:a6a169de725f 110 generic_32bit r;
shimniok 0:a6a169de725f 111 r.b[3] = (msg->payload+sizeof(float))[0];
shimniok 0:a6a169de725f 112 r.b[2] = (msg->payload+sizeof(float))[1];
shimniok 0:a6a169de725f 113 r.b[1] = (msg->payload+sizeof(float))[2];
shimniok 0:a6a169de725f 114 r.b[0] = (msg->payload+sizeof(float))[3];
shimniok 0:a6a169de725f 115 return (float)r.f;
shimniok 0:a6a169de725f 116 }
shimniok 0:a6a169de725f 117
shimniok 0:a6a169de725f 118 /**
shimniok 0:a6a169de725f 119 * @brief Decode a command_ack message into a struct
shimniok 0:a6a169de725f 120 *
shimniok 0:a6a169de725f 121 * @param msg The message to decode
shimniok 0:a6a169de725f 122 * @param command_ack C-struct to decode the message contents into
shimniok 0:a6a169de725f 123 */
shimniok 0:a6a169de725f 124 static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
shimniok 0:a6a169de725f 125 {
shimniok 0:a6a169de725f 126 command_ack->command = mavlink_msg_command_ack_get_command(msg);
shimniok 0:a6a169de725f 127 command_ack->result = mavlink_msg_command_ack_get_result(msg);
shimniok 0:a6a169de725f 128 }