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_hil_controls.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:a6a169de725f | 1 | // MESSAGE HIL_CONTROLS PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_HIL_CONTROLS 68 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_hil_controls_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | uint64_t time_us; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:a6a169de725f | 8 | float roll_ailerons; ///< Control output -3 .. 1 |
shimniok | 0:a6a169de725f | 9 | float pitch_elevator; ///< Control output -1 .. 1 |
shimniok | 0:a6a169de725f | 10 | float yaw_rudder; ///< Control output -1 .. 1 |
shimniok | 0:a6a169de725f | 11 | float throttle; ///< Throttle 0 .. 1 |
shimniok | 0:a6a169de725f | 12 | uint8_t mode; ///< System mode (MAV_MODE) |
shimniok | 0:a6a169de725f | 13 | uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE) |
shimniok | 0:a6a169de725f | 14 | |
shimniok | 0:a6a169de725f | 15 | } mavlink_hil_controls_t; |
shimniok | 0:a6a169de725f | 16 | |
shimniok | 0:a6a169de725f | 17 | |
shimniok | 0:a6a169de725f | 18 | |
shimniok | 0:a6a169de725f | 19 | /** |
shimniok | 0:a6a169de725f | 20 | * @brief Pack a hil_controls message |
shimniok | 0:a6a169de725f | 21 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 22 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 23 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 24 | * |
shimniok | 0:a6a169de725f | 25 | * @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:a6a169de725f | 26 | * @param roll_ailerons Control output -3 .. 1 |
shimniok | 0:a6a169de725f | 27 | * @param pitch_elevator Control output -1 .. 1 |
shimniok | 0:a6a169de725f | 28 | * @param yaw_rudder Control output -1 .. 1 |
shimniok | 0:a6a169de725f | 29 | * @param throttle Throttle 0 .. 1 |
shimniok | 0:a6a169de725f | 30 | * @param mode System mode (MAV_MODE) |
shimniok | 0:a6a169de725f | 31 | * @param nav_mode Navigation mode (MAV_NAV_MODE) |
shimniok | 0:a6a169de725f | 32 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 33 | */ |
shimniok | 0:a6a169de725f | 34 | static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode) |
shimniok | 0:a6a169de725f | 35 | { |
shimniok | 0:a6a169de725f | 36 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 37 | msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; |
shimniok | 0:a6a169de725f | 38 | |
shimniok | 0:a6a169de725f | 39 | i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:a6a169de725f | 40 | i += put_float_by_index(roll_ailerons, i, msg->payload); // Control output -3 .. 1 |
shimniok | 0:a6a169de725f | 41 | i += put_float_by_index(pitch_elevator, i, msg->payload); // Control output -1 .. 1 |
shimniok | 0:a6a169de725f | 42 | i += put_float_by_index(yaw_rudder, i, msg->payload); // Control output -1 .. 1 |
shimniok | 0:a6a169de725f | 43 | i += put_float_by_index(throttle, i, msg->payload); // Throttle 0 .. 1 |
shimniok | 0:a6a169de725f | 44 | i += put_uint8_t_by_index(mode, i, msg->payload); // System mode (MAV_MODE) |
shimniok | 0:a6a169de725f | 45 | i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode (MAV_NAV_MODE) |
shimniok | 0:a6a169de725f | 46 | |
shimniok | 0:a6a169de725f | 47 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 48 | } |
shimniok | 0:a6a169de725f | 49 | |
shimniok | 0:a6a169de725f | 50 | /** |
shimniok | 0:a6a169de725f | 51 | * @brief Pack a hil_controls message |
shimniok | 0:a6a169de725f | 52 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 53 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 54 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 55 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 56 | * @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:a6a169de725f | 57 | * @param roll_ailerons Control output -3 .. 1 |
shimniok | 0:a6a169de725f | 58 | * @param pitch_elevator Control output -1 .. 1 |
shimniok | 0:a6a169de725f | 59 | * @param yaw_rudder Control output -1 .. 1 |
shimniok | 0:a6a169de725f | 60 | * @param throttle Throttle 0 .. 1 |
shimniok | 0:a6a169de725f | 61 | * @param mode System mode (MAV_MODE) |
shimniok | 0:a6a169de725f | 62 | * @param nav_mode Navigation mode (MAV_NAV_MODE) |
shimniok | 0:a6a169de725f | 63 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 64 | */ |
shimniok | 0:a6a169de725f | 65 | static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode) |
shimniok | 0:a6a169de725f | 66 | { |
shimniok | 0:a6a169de725f | 67 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 68 | msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; |
shimniok | 0:a6a169de725f | 69 | |
shimniok | 0:a6a169de725f | 70 | i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:a6a169de725f | 71 | i += put_float_by_index(roll_ailerons, i, msg->payload); // Control output -3 .. 1 |
shimniok | 0:a6a169de725f | 72 | i += put_float_by_index(pitch_elevator, i, msg->payload); // Control output -1 .. 1 |
shimniok | 0:a6a169de725f | 73 | i += put_float_by_index(yaw_rudder, i, msg->payload); // Control output -1 .. 1 |
shimniok | 0:a6a169de725f | 74 | i += put_float_by_index(throttle, i, msg->payload); // Throttle 0 .. 1 |
shimniok | 0:a6a169de725f | 75 | i += put_uint8_t_by_index(mode, i, msg->payload); // System mode (MAV_MODE) |
shimniok | 0:a6a169de725f | 76 | i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode (MAV_NAV_MODE) |
shimniok | 0:a6a169de725f | 77 | |
shimniok | 0:a6a169de725f | 78 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:a6a169de725f | 79 | } |
shimniok | 0:a6a169de725f | 80 | |
shimniok | 0:a6a169de725f | 81 | /** |
shimniok | 0:a6a169de725f | 82 | * @brief Encode a hil_controls struct into a message |
shimniok | 0:a6a169de725f | 83 | * |
shimniok | 0:a6a169de725f | 84 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 85 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 86 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 87 | * @param hil_controls C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 88 | */ |
shimniok | 0:a6a169de725f | 89 | static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls) |
shimniok | 0:a6a169de725f | 90 | { |
shimniok | 0:a6a169de725f | 91 | return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_us, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->mode, hil_controls->nav_mode); |
shimniok | 0:a6a169de725f | 92 | } |
shimniok | 0:a6a169de725f | 93 | |
shimniok | 0:a6a169de725f | 94 | /** |
shimniok | 0:a6a169de725f | 95 | * @brief Send a hil_controls message |
shimniok | 0:a6a169de725f | 96 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 97 | * |
shimniok | 0:a6a169de725f | 98 | * @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:a6a169de725f | 99 | * @param roll_ailerons Control output -3 .. 1 |
shimniok | 0:a6a169de725f | 100 | * @param pitch_elevator Control output -1 .. 1 |
shimniok | 0:a6a169de725f | 101 | * @param yaw_rudder Control output -1 .. 1 |
shimniok | 0:a6a169de725f | 102 | * @param throttle Throttle 0 .. 1 |
shimniok | 0:a6a169de725f | 103 | * @param mode System mode (MAV_MODE) |
shimniok | 0:a6a169de725f | 104 | * @param nav_mode Navigation mode (MAV_NAV_MODE) |
shimniok | 0:a6a169de725f | 105 | */ |
shimniok | 0:a6a169de725f | 106 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 107 | |
shimniok | 0:a6a169de725f | 108 | static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode) |
shimniok | 0:a6a169de725f | 109 | { |
shimniok | 0:a6a169de725f | 110 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 111 | mavlink_msg_hil_controls_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode); |
shimniok | 0:a6a169de725f | 112 | mavlink_send_uart(chan, &msg); |
shimniok | 0:a6a169de725f | 113 | } |
shimniok | 0:a6a169de725f | 114 | |
shimniok | 0:a6a169de725f | 115 | #endif |
shimniok | 0:a6a169de725f | 116 | // MESSAGE HIL_CONTROLS UNPACKING |
shimniok | 0:a6a169de725f | 117 | |
shimniok | 0:a6a169de725f | 118 | /** |
shimniok | 0:a6a169de725f | 119 | * @brief Get field time_us from hil_controls message |
shimniok | 0:a6a169de725f | 120 | * |
shimniok | 0:a6a169de725f | 121 | * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:a6a169de725f | 122 | */ |
shimniok | 0:a6a169de725f | 123 | static inline uint64_t mavlink_msg_hil_controls_get_time_us(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 124 | { |
shimniok | 0:a6a169de725f | 125 | generic_64bit r; |
shimniok | 0:a6a169de725f | 126 | r.b[7] = (msg->payload)[0]; |
shimniok | 0:a6a169de725f | 127 | r.b[6] = (msg->payload)[1]; |
shimniok | 0:a6a169de725f | 128 | r.b[5] = (msg->payload)[2]; |
shimniok | 0:a6a169de725f | 129 | r.b[4] = (msg->payload)[3]; |
shimniok | 0:a6a169de725f | 130 | r.b[3] = (msg->payload)[4]; |
shimniok | 0:a6a169de725f | 131 | r.b[2] = (msg->payload)[5]; |
shimniok | 0:a6a169de725f | 132 | r.b[1] = (msg->payload)[6]; |
shimniok | 0:a6a169de725f | 133 | r.b[0] = (msg->payload)[7]; |
shimniok | 0:a6a169de725f | 134 | return (uint64_t)r.ll; |
shimniok | 0:a6a169de725f | 135 | } |
shimniok | 0:a6a169de725f | 136 | |
shimniok | 0:a6a169de725f | 137 | /** |
shimniok | 0:a6a169de725f | 138 | * @brief Get field roll_ailerons from hil_controls message |
shimniok | 0:a6a169de725f | 139 | * |
shimniok | 0:a6a169de725f | 140 | * @return Control output -3 .. 1 |
shimniok | 0:a6a169de725f | 141 | */ |
shimniok | 0:a6a169de725f | 142 | static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 143 | { |
shimniok | 0:a6a169de725f | 144 | generic_32bit r; |
shimniok | 0:a6a169de725f | 145 | r.b[3] = (msg->payload+sizeof(uint64_t))[0]; |
shimniok | 0:a6a169de725f | 146 | r.b[2] = (msg->payload+sizeof(uint64_t))[1]; |
shimniok | 0:a6a169de725f | 147 | r.b[1] = (msg->payload+sizeof(uint64_t))[2]; |
shimniok | 0:a6a169de725f | 148 | r.b[0] = (msg->payload+sizeof(uint64_t))[3]; |
shimniok | 0:a6a169de725f | 149 | return (float)r.f; |
shimniok | 0:a6a169de725f | 150 | } |
shimniok | 0:a6a169de725f | 151 | |
shimniok | 0:a6a169de725f | 152 | /** |
shimniok | 0:a6a169de725f | 153 | * @brief Get field pitch_elevator from hil_controls message |
shimniok | 0:a6a169de725f | 154 | * |
shimniok | 0:a6a169de725f | 155 | * @return Control output -1 .. 1 |
shimniok | 0:a6a169de725f | 156 | */ |
shimniok | 0:a6a169de725f | 157 | static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 158 | { |
shimniok | 0:a6a169de725f | 159 | generic_32bit r; |
shimniok | 0:a6a169de725f | 160 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 161 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 162 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 163 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 164 | return (float)r.f; |
shimniok | 0:a6a169de725f | 165 | } |
shimniok | 0:a6a169de725f | 166 | |
shimniok | 0:a6a169de725f | 167 | /** |
shimniok | 0:a6a169de725f | 168 | * @brief Get field yaw_rudder from hil_controls message |
shimniok | 0:a6a169de725f | 169 | * |
shimniok | 0:a6a169de725f | 170 | * @return Control output -1 .. 1 |
shimniok | 0:a6a169de725f | 171 | */ |
shimniok | 0:a6a169de725f | 172 | static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 173 | { |
shimniok | 0:a6a169de725f | 174 | generic_32bit r; |
shimniok | 0:a6a169de725f | 175 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 176 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 177 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 178 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 179 | return (float)r.f; |
shimniok | 0:a6a169de725f | 180 | } |
shimniok | 0:a6a169de725f | 181 | |
shimniok | 0:a6a169de725f | 182 | /** |
shimniok | 0:a6a169de725f | 183 | * @brief Get field throttle from hil_controls message |
shimniok | 0:a6a169de725f | 184 | * |
shimniok | 0:a6a169de725f | 185 | * @return Throttle 0 .. 1 |
shimniok | 0:a6a169de725f | 186 | */ |
shimniok | 0:a6a169de725f | 187 | static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 188 | { |
shimniok | 0:a6a169de725f | 189 | generic_32bit r; |
shimniok | 0:a6a169de725f | 190 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 191 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 192 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 193 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 194 | return (float)r.f; |
shimniok | 0:a6a169de725f | 195 | } |
shimniok | 0:a6a169de725f | 196 | |
shimniok | 0:a6a169de725f | 197 | /** |
shimniok | 0:a6a169de725f | 198 | * @brief Get field mode from hil_controls message |
shimniok | 0:a6a169de725f | 199 | * |
shimniok | 0:a6a169de725f | 200 | * @return System mode (MAV_MODE) |
shimniok | 0:a6a169de725f | 201 | */ |
shimniok | 0:a6a169de725f | 202 | static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 203 | { |
shimniok | 0:a6a169de725f | 204 | return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 205 | } |
shimniok | 0:a6a169de725f | 206 | |
shimniok | 0:a6a169de725f | 207 | /** |
shimniok | 0:a6a169de725f | 208 | * @brief Get field nav_mode from hil_controls message |
shimniok | 0:a6a169de725f | 209 | * |
shimniok | 0:a6a169de725f | 210 | * @return Navigation mode (MAV_NAV_MODE) |
shimniok | 0:a6a169de725f | 211 | */ |
shimniok | 0:a6a169de725f | 212 | static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 213 | { |
shimniok | 0:a6a169de725f | 214 | return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 215 | } |
shimniok | 0:a6a169de725f | 216 | |
shimniok | 0:a6a169de725f | 217 | /** |
shimniok | 0:a6a169de725f | 218 | * @brief Decode a hil_controls message into a struct |
shimniok | 0:a6a169de725f | 219 | * |
shimniok | 0:a6a169de725f | 220 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 221 | * @param hil_controls C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 222 | */ |
shimniok | 0:a6a169de725f | 223 | static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls) |
shimniok | 0:a6a169de725f | 224 | { |
shimniok | 0:a6a169de725f | 225 | hil_controls->time_us = mavlink_msg_hil_controls_get_time_us(msg); |
shimniok | 0:a6a169de725f | 226 | hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg); |
shimniok | 0:a6a169de725f | 227 | hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg); |
shimniok | 0:a6a169de725f | 228 | hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg); |
shimniok | 0:a6a169de725f | 229 | hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg); |
shimniok | 0:a6a169de725f | 230 | hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg); |
shimniok | 0:a6a169de725f | 231 | hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg); |
shimniok | 0:a6a169de725f | 232 | } |