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_nav_controller_output.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 NAV_CONTROLLER_OUTPUT PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_nav_controller_output_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | float nav_roll; ///< Current desired roll in degrees |
shimniok | 0:a6a169de725f | 8 | float nav_pitch; ///< Current desired pitch in degrees |
shimniok | 0:a6a169de725f | 9 | int16_t nav_bearing; ///< Current desired heading in degrees |
shimniok | 0:a6a169de725f | 10 | int16_t target_bearing; ///< Bearing to current waypoint/target in degrees |
shimniok | 0:a6a169de725f | 11 | uint16_t wp_dist; ///< Distance to active waypoint in meters |
shimniok | 0:a6a169de725f | 12 | float alt_error; ///< Current altitude error in meters |
shimniok | 0:a6a169de725f | 13 | float aspd_error; ///< Current airspeed error in meters/second |
shimniok | 0:a6a169de725f | 14 | float xtrack_error; ///< Current crosstrack error on x-y plane in meters |
shimniok | 0:a6a169de725f | 15 | |
shimniok | 0:a6a169de725f | 16 | } mavlink_nav_controller_output_t; |
shimniok | 0:a6a169de725f | 17 | |
shimniok | 0:a6a169de725f | 18 | |
shimniok | 0:a6a169de725f | 19 | |
shimniok | 0:a6a169de725f | 20 | /** |
shimniok | 0:a6a169de725f | 21 | * @brief Pack a nav_controller_output message |
shimniok | 0:a6a169de725f | 22 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 23 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 24 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 25 | * |
shimniok | 0:a6a169de725f | 26 | * @param nav_roll Current desired roll in degrees |
shimniok | 0:a6a169de725f | 27 | * @param nav_pitch Current desired pitch in degrees |
shimniok | 0:a6a169de725f | 28 | * @param nav_bearing Current desired heading in degrees |
shimniok | 0:a6a169de725f | 29 | * @param target_bearing Bearing to current waypoint/target in degrees |
shimniok | 0:a6a169de725f | 30 | * @param wp_dist Distance to active waypoint in meters |
shimniok | 0:a6a169de725f | 31 | * @param alt_error Current altitude error in meters |
shimniok | 0:a6a169de725f | 32 | * @param aspd_error Current airspeed error in meters/second |
shimniok | 0:a6a169de725f | 33 | * @param xtrack_error Current crosstrack error on x-y plane in meters |
shimniok | 0:a6a169de725f | 34 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 35 | */ |
shimniok | 0:a6a169de725f | 36 | static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error) |
shimniok | 0:a6a169de725f | 37 | { |
shimniok | 0:a6a169de725f | 38 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 39 | msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; |
shimniok | 0:a6a169de725f | 40 | |
shimniok | 0:a6a169de725f | 41 | i += put_float_by_index(nav_roll, i, msg->payload); // Current desired roll in degrees |
shimniok | 0:a6a169de725f | 42 | i += put_float_by_index(nav_pitch, i, msg->payload); // Current desired pitch in degrees |
shimniok | 0:a6a169de725f | 43 | i += put_int16_t_by_index(nav_bearing, i, msg->payload); // Current desired heading in degrees |
shimniok | 0:a6a169de725f | 44 | i += put_int16_t_by_index(target_bearing, i, msg->payload); // Bearing to current waypoint/target in degrees |
shimniok | 0:a6a169de725f | 45 | i += put_uint16_t_by_index(wp_dist, i, msg->payload); // Distance to active waypoint in meters |
shimniok | 0:a6a169de725f | 46 | i += put_float_by_index(alt_error, i, msg->payload); // Current altitude error in meters |
shimniok | 0:a6a169de725f | 47 | i += put_float_by_index(aspd_error, i, msg->payload); // Current airspeed error in meters/second |
shimniok | 0:a6a169de725f | 48 | i += put_float_by_index(xtrack_error, i, msg->payload); // Current crosstrack error on x-y plane in meters |
shimniok | 0:a6a169de725f | 49 | |
shimniok | 0:a6a169de725f | 50 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 51 | } |
shimniok | 0:a6a169de725f | 52 | |
shimniok | 0:a6a169de725f | 53 | /** |
shimniok | 0:a6a169de725f | 54 | * @brief Pack a nav_controller_output message |
shimniok | 0:a6a169de725f | 55 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 56 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 57 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 58 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 59 | * @param nav_roll Current desired roll in degrees |
shimniok | 0:a6a169de725f | 60 | * @param nav_pitch Current desired pitch in degrees |
shimniok | 0:a6a169de725f | 61 | * @param nav_bearing Current desired heading in degrees |
shimniok | 0:a6a169de725f | 62 | * @param target_bearing Bearing to current waypoint/target in degrees |
shimniok | 0:a6a169de725f | 63 | * @param wp_dist Distance to active waypoint in meters |
shimniok | 0:a6a169de725f | 64 | * @param alt_error Current altitude error in meters |
shimniok | 0:a6a169de725f | 65 | * @param aspd_error Current airspeed error in meters/second |
shimniok | 0:a6a169de725f | 66 | * @param xtrack_error Current crosstrack error on x-y plane in meters |
shimniok | 0:a6a169de725f | 67 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 68 | */ |
shimniok | 0:a6a169de725f | 69 | static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error) |
shimniok | 0:a6a169de725f | 70 | { |
shimniok | 0:a6a169de725f | 71 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 72 | msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; |
shimniok | 0:a6a169de725f | 73 | |
shimniok | 0:a6a169de725f | 74 | i += put_float_by_index(nav_roll, i, msg->payload); // Current desired roll in degrees |
shimniok | 0:a6a169de725f | 75 | i += put_float_by_index(nav_pitch, i, msg->payload); // Current desired pitch in degrees |
shimniok | 0:a6a169de725f | 76 | i += put_int16_t_by_index(nav_bearing, i, msg->payload); // Current desired heading in degrees |
shimniok | 0:a6a169de725f | 77 | i += put_int16_t_by_index(target_bearing, i, msg->payload); // Bearing to current waypoint/target in degrees |
shimniok | 0:a6a169de725f | 78 | i += put_uint16_t_by_index(wp_dist, i, msg->payload); // Distance to active waypoint in meters |
shimniok | 0:a6a169de725f | 79 | i += put_float_by_index(alt_error, i, msg->payload); // Current altitude error in meters |
shimniok | 0:a6a169de725f | 80 | i += put_float_by_index(aspd_error, i, msg->payload); // Current airspeed error in meters/second |
shimniok | 0:a6a169de725f | 81 | i += put_float_by_index(xtrack_error, i, msg->payload); // Current crosstrack error on x-y plane in meters |
shimniok | 0:a6a169de725f | 82 | |
shimniok | 0:a6a169de725f | 83 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:a6a169de725f | 84 | } |
shimniok | 0:a6a169de725f | 85 | |
shimniok | 0:a6a169de725f | 86 | /** |
shimniok | 0:a6a169de725f | 87 | * @brief Encode a nav_controller_output struct into a message |
shimniok | 0:a6a169de725f | 88 | * |
shimniok | 0:a6a169de725f | 89 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 90 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 91 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 92 | * @param nav_controller_output C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 93 | */ |
shimniok | 0:a6a169de725f | 94 | static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output) |
shimniok | 0:a6a169de725f | 95 | { |
shimniok | 0:a6a169de725f | 96 | return mavlink_msg_nav_controller_output_pack(system_id, component_id, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error); |
shimniok | 0:a6a169de725f | 97 | } |
shimniok | 0:a6a169de725f | 98 | |
shimniok | 0:a6a169de725f | 99 | /** |
shimniok | 0:a6a169de725f | 100 | * @brief Send a nav_controller_output message |
shimniok | 0:a6a169de725f | 101 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 102 | * |
shimniok | 0:a6a169de725f | 103 | * @param nav_roll Current desired roll in degrees |
shimniok | 0:a6a169de725f | 104 | * @param nav_pitch Current desired pitch in degrees |
shimniok | 0:a6a169de725f | 105 | * @param nav_bearing Current desired heading in degrees |
shimniok | 0:a6a169de725f | 106 | * @param target_bearing Bearing to current waypoint/target in degrees |
shimniok | 0:a6a169de725f | 107 | * @param wp_dist Distance to active waypoint in meters |
shimniok | 0:a6a169de725f | 108 | * @param alt_error Current altitude error in meters |
shimniok | 0:a6a169de725f | 109 | * @param aspd_error Current airspeed error in meters/second |
shimniok | 0:a6a169de725f | 110 | * @param xtrack_error Current crosstrack error on x-y plane in meters |
shimniok | 0:a6a169de725f | 111 | */ |
shimniok | 0:a6a169de725f | 112 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 113 | |
shimniok | 0:a6a169de725f | 114 | static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error) |
shimniok | 0:a6a169de725f | 115 | { |
shimniok | 0:a6a169de725f | 116 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 117 | mavlink_msg_nav_controller_output_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error); |
shimniok | 0:a6a169de725f | 118 | mavlink_send_uart(chan, &msg); |
shimniok | 0:a6a169de725f | 119 | } |
shimniok | 0:a6a169de725f | 120 | |
shimniok | 0:a6a169de725f | 121 | #endif |
shimniok | 0:a6a169de725f | 122 | // MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING |
shimniok | 0:a6a169de725f | 123 | |
shimniok | 0:a6a169de725f | 124 | /** |
shimniok | 0:a6a169de725f | 125 | * @brief Get field nav_roll from nav_controller_output message |
shimniok | 0:a6a169de725f | 126 | * |
shimniok | 0:a6a169de725f | 127 | * @return Current desired roll in degrees |
shimniok | 0:a6a169de725f | 128 | */ |
shimniok | 0:a6a169de725f | 129 | static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 130 | { |
shimniok | 0:a6a169de725f | 131 | generic_32bit r; |
shimniok | 0:a6a169de725f | 132 | r.b[3] = (msg->payload)[0]; |
shimniok | 0:a6a169de725f | 133 | r.b[2] = (msg->payload)[1]; |
shimniok | 0:a6a169de725f | 134 | r.b[1] = (msg->payload)[2]; |
shimniok | 0:a6a169de725f | 135 | r.b[0] = (msg->payload)[3]; |
shimniok | 0:a6a169de725f | 136 | return (float)r.f; |
shimniok | 0:a6a169de725f | 137 | } |
shimniok | 0:a6a169de725f | 138 | |
shimniok | 0:a6a169de725f | 139 | /** |
shimniok | 0:a6a169de725f | 140 | * @brief Get field nav_pitch from nav_controller_output message |
shimniok | 0:a6a169de725f | 141 | * |
shimniok | 0:a6a169de725f | 142 | * @return Current desired pitch in degrees |
shimniok | 0:a6a169de725f | 143 | */ |
shimniok | 0:a6a169de725f | 144 | static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 145 | { |
shimniok | 0:a6a169de725f | 146 | generic_32bit r; |
shimniok | 0:a6a169de725f | 147 | r.b[3] = (msg->payload+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 148 | r.b[2] = (msg->payload+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 149 | r.b[1] = (msg->payload+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 150 | r.b[0] = (msg->payload+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 151 | return (float)r.f; |
shimniok | 0:a6a169de725f | 152 | } |
shimniok | 0:a6a169de725f | 153 | |
shimniok | 0:a6a169de725f | 154 | /** |
shimniok | 0:a6a169de725f | 155 | * @brief Get field nav_bearing from nav_controller_output message |
shimniok | 0:a6a169de725f | 156 | * |
shimniok | 0:a6a169de725f | 157 | * @return Current desired heading in degrees |
shimniok | 0:a6a169de725f | 158 | */ |
shimniok | 0:a6a169de725f | 159 | static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 160 | { |
shimniok | 0:a6a169de725f | 161 | generic_16bit r; |
shimniok | 0:a6a169de725f | 162 | r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 163 | r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 164 | return (int16_t)r.s; |
shimniok | 0:a6a169de725f | 165 | } |
shimniok | 0:a6a169de725f | 166 | |
shimniok | 0:a6a169de725f | 167 | /** |
shimniok | 0:a6a169de725f | 168 | * @brief Get field target_bearing from nav_controller_output message |
shimniok | 0:a6a169de725f | 169 | * |
shimniok | 0:a6a169de725f | 170 | * @return Bearing to current waypoint/target in degrees |
shimniok | 0:a6a169de725f | 171 | */ |
shimniok | 0:a6a169de725f | 172 | static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 173 | { |
shimniok | 0:a6a169de725f | 174 | generic_16bit r; |
shimniok | 0:a6a169de725f | 175 | r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[0]; |
shimniok | 0:a6a169de725f | 176 | r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[1]; |
shimniok | 0:a6a169de725f | 177 | return (int16_t)r.s; |
shimniok | 0:a6a169de725f | 178 | } |
shimniok | 0:a6a169de725f | 179 | |
shimniok | 0:a6a169de725f | 180 | /** |
shimniok | 0:a6a169de725f | 181 | * @brief Get field wp_dist from nav_controller_output message |
shimniok | 0:a6a169de725f | 182 | * |
shimniok | 0:a6a169de725f | 183 | * @return Distance to active waypoint in meters |
shimniok | 0:a6a169de725f | 184 | */ |
shimniok | 0:a6a169de725f | 185 | static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 186 | { |
shimniok | 0:a6a169de725f | 187 | generic_16bit r; |
shimniok | 0:a6a169de725f | 188 | r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[0]; |
shimniok | 0:a6a169de725f | 189 | r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[1]; |
shimniok | 0:a6a169de725f | 190 | return (uint16_t)r.s; |
shimniok | 0:a6a169de725f | 191 | } |
shimniok | 0:a6a169de725f | 192 | |
shimniok | 0:a6a169de725f | 193 | /** |
shimniok | 0:a6a169de725f | 194 | * @brief Get field alt_error from nav_controller_output message |
shimniok | 0:a6a169de725f | 195 | * |
shimniok | 0:a6a169de725f | 196 | * @return Current altitude error in meters |
shimniok | 0:a6a169de725f | 197 | */ |
shimniok | 0:a6a169de725f | 198 | static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 199 | { |
shimniok | 0:a6a169de725f | 200 | generic_32bit r; |
shimniok | 0:a6a169de725f | 201 | r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[0]; |
shimniok | 0:a6a169de725f | 202 | r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[1]; |
shimniok | 0:a6a169de725f | 203 | r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[2]; |
shimniok | 0:a6a169de725f | 204 | r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[3]; |
shimniok | 0:a6a169de725f | 205 | return (float)r.f; |
shimniok | 0:a6a169de725f | 206 | } |
shimniok | 0:a6a169de725f | 207 | |
shimniok | 0:a6a169de725f | 208 | /** |
shimniok | 0:a6a169de725f | 209 | * @brief Get field aspd_error from nav_controller_output message |
shimniok | 0:a6a169de725f | 210 | * |
shimniok | 0:a6a169de725f | 211 | * @return Current airspeed error in meters/second |
shimniok | 0:a6a169de725f | 212 | */ |
shimniok | 0:a6a169de725f | 213 | static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 214 | { |
shimniok | 0:a6a169de725f | 215 | generic_32bit r; |
shimniok | 0:a6a169de725f | 216 | r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 217 | r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 218 | r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 219 | r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 220 | return (float)r.f; |
shimniok | 0:a6a169de725f | 221 | } |
shimniok | 0:a6a169de725f | 222 | |
shimniok | 0:a6a169de725f | 223 | /** |
shimniok | 0:a6a169de725f | 224 | * @brief Get field xtrack_error from nav_controller_output message |
shimniok | 0:a6a169de725f | 225 | * |
shimniok | 0:a6a169de725f | 226 | * @return Current crosstrack error on x-y plane in meters |
shimniok | 0:a6a169de725f | 227 | */ |
shimniok | 0:a6a169de725f | 228 | static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 229 | { |
shimniok | 0:a6a169de725f | 230 | generic_32bit r; |
shimniok | 0:a6a169de725f | 231 | r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 232 | r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 233 | r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 234 | r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 235 | return (float)r.f; |
shimniok | 0:a6a169de725f | 236 | } |
shimniok | 0:a6a169de725f | 237 | |
shimniok | 0:a6a169de725f | 238 | /** |
shimniok | 0:a6a169de725f | 239 | * @brief Decode a nav_controller_output message into a struct |
shimniok | 0:a6a169de725f | 240 | * |
shimniok | 0:a6a169de725f | 241 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 242 | * @param nav_controller_output C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 243 | */ |
shimniok | 0:a6a169de725f | 244 | static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t* msg, mavlink_nav_controller_output_t* nav_controller_output) |
shimniok | 0:a6a169de725f | 245 | { |
shimniok | 0:a6a169de725f | 246 | nav_controller_output->nav_roll = mavlink_msg_nav_controller_output_get_nav_roll(msg); |
shimniok | 0:a6a169de725f | 247 | nav_controller_output->nav_pitch = mavlink_msg_nav_controller_output_get_nav_pitch(msg); |
shimniok | 0:a6a169de725f | 248 | nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg); |
shimniok | 0:a6a169de725f | 249 | nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg); |
shimniok | 0:a6a169de725f | 250 | nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg); |
shimniok | 0:a6a169de725f | 251 | nav_controller_output->alt_error = mavlink_msg_nav_controller_output_get_alt_error(msg); |
shimniok | 0:a6a169de725f | 252 | nav_controller_output->aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(msg); |
shimniok | 0:a6a169de725f | 253 | nav_controller_output->xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(msg); |
shimniok | 0:a6a169de725f | 254 | } |