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/pixhawk/mavlink_msg_marker.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 MARKER PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_MARKER 130 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_marker_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | uint16_t id; ///< ID |
shimniok | 0:a6a169de725f | 8 | float x; ///< x position |
shimniok | 0:a6a169de725f | 9 | float y; ///< y position |
shimniok | 0:a6a169de725f | 10 | float z; ///< z position |
shimniok | 0:a6a169de725f | 11 | float roll; ///< roll orientation |
shimniok | 0:a6a169de725f | 12 | float pitch; ///< pitch orientation |
shimniok | 0:a6a169de725f | 13 | float yaw; ///< yaw orientation |
shimniok | 0:a6a169de725f | 14 | |
shimniok | 0:a6a169de725f | 15 | } mavlink_marker_t; |
shimniok | 0:a6a169de725f | 16 | |
shimniok | 0:a6a169de725f | 17 | |
shimniok | 0:a6a169de725f | 18 | |
shimniok | 0:a6a169de725f | 19 | /** |
shimniok | 0:a6a169de725f | 20 | * @brief Pack a marker 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 id ID |
shimniok | 0:a6a169de725f | 26 | * @param x x position |
shimniok | 0:a6a169de725f | 27 | * @param y y position |
shimniok | 0:a6a169de725f | 28 | * @param z z position |
shimniok | 0:a6a169de725f | 29 | * @param roll roll orientation |
shimniok | 0:a6a169de725f | 30 | * @param pitch pitch orientation |
shimniok | 0:a6a169de725f | 31 | * @param yaw yaw orientation |
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_marker_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw) |
shimniok | 0:a6a169de725f | 35 | { |
shimniok | 0:a6a169de725f | 36 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 37 | msg->msgid = MAVLINK_MSG_ID_MARKER; |
shimniok | 0:a6a169de725f | 38 | |
shimniok | 0:a6a169de725f | 39 | i += put_uint16_t_by_index(id, i, msg->payload); // ID |
shimniok | 0:a6a169de725f | 40 | i += put_float_by_index(x, i, msg->payload); // x position |
shimniok | 0:a6a169de725f | 41 | i += put_float_by_index(y, i, msg->payload); // y position |
shimniok | 0:a6a169de725f | 42 | i += put_float_by_index(z, i, msg->payload); // z position |
shimniok | 0:a6a169de725f | 43 | i += put_float_by_index(roll, i, msg->payload); // roll orientation |
shimniok | 0:a6a169de725f | 44 | i += put_float_by_index(pitch, i, msg->payload); // pitch orientation |
shimniok | 0:a6a169de725f | 45 | i += put_float_by_index(yaw, i, msg->payload); // yaw orientation |
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 marker 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 id ID |
shimniok | 0:a6a169de725f | 57 | * @param x x position |
shimniok | 0:a6a169de725f | 58 | * @param y y position |
shimniok | 0:a6a169de725f | 59 | * @param z z position |
shimniok | 0:a6a169de725f | 60 | * @param roll roll orientation |
shimniok | 0:a6a169de725f | 61 | * @param pitch pitch orientation |
shimniok | 0:a6a169de725f | 62 | * @param yaw yaw orientation |
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_marker_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw) |
shimniok | 0:a6a169de725f | 66 | { |
shimniok | 0:a6a169de725f | 67 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 68 | msg->msgid = MAVLINK_MSG_ID_MARKER; |
shimniok | 0:a6a169de725f | 69 | |
shimniok | 0:a6a169de725f | 70 | i += put_uint16_t_by_index(id, i, msg->payload); // ID |
shimniok | 0:a6a169de725f | 71 | i += put_float_by_index(x, i, msg->payload); // x position |
shimniok | 0:a6a169de725f | 72 | i += put_float_by_index(y, i, msg->payload); // y position |
shimniok | 0:a6a169de725f | 73 | i += put_float_by_index(z, i, msg->payload); // z position |
shimniok | 0:a6a169de725f | 74 | i += put_float_by_index(roll, i, msg->payload); // roll orientation |
shimniok | 0:a6a169de725f | 75 | i += put_float_by_index(pitch, i, msg->payload); // pitch orientation |
shimniok | 0:a6a169de725f | 76 | i += put_float_by_index(yaw, i, msg->payload); // yaw orientation |
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 marker 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 marker C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 88 | */ |
shimniok | 0:a6a169de725f | 89 | static inline uint16_t mavlink_msg_marker_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_marker_t* marker) |
shimniok | 0:a6a169de725f | 90 | { |
shimniok | 0:a6a169de725f | 91 | return mavlink_msg_marker_pack(system_id, component_id, msg, marker->id, marker->x, marker->y, marker->z, marker->roll, marker->pitch, marker->yaw); |
shimniok | 0:a6a169de725f | 92 | } |
shimniok | 0:a6a169de725f | 93 | |
shimniok | 0:a6a169de725f | 94 | /** |
shimniok | 0:a6a169de725f | 95 | * @brief Send a marker message |
shimniok | 0:a6a169de725f | 96 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 97 | * |
shimniok | 0:a6a169de725f | 98 | * @param id ID |
shimniok | 0:a6a169de725f | 99 | * @param x x position |
shimniok | 0:a6a169de725f | 100 | * @param y y position |
shimniok | 0:a6a169de725f | 101 | * @param z z position |
shimniok | 0:a6a169de725f | 102 | * @param roll roll orientation |
shimniok | 0:a6a169de725f | 103 | * @param pitch pitch orientation |
shimniok | 0:a6a169de725f | 104 | * @param yaw yaw orientation |
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_marker_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw) |
shimniok | 0:a6a169de725f | 109 | { |
shimniok | 0:a6a169de725f | 110 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 111 | mavlink_msg_marker_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, id, x, y, z, roll, pitch, yaw); |
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 MARKER UNPACKING |
shimniok | 0:a6a169de725f | 117 | |
shimniok | 0:a6a169de725f | 118 | /** |
shimniok | 0:a6a169de725f | 119 | * @brief Get field id from marker message |
shimniok | 0:a6a169de725f | 120 | * |
shimniok | 0:a6a169de725f | 121 | * @return ID |
shimniok | 0:a6a169de725f | 122 | */ |
shimniok | 0:a6a169de725f | 123 | static inline uint16_t mavlink_msg_marker_get_id(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 124 | { |
shimniok | 0:a6a169de725f | 125 | generic_16bit r; |
shimniok | 0:a6a169de725f | 126 | r.b[1] = (msg->payload)[0]; |
shimniok | 0:a6a169de725f | 127 | r.b[0] = (msg->payload)[1]; |
shimniok | 0:a6a169de725f | 128 | return (uint16_t)r.s; |
shimniok | 0:a6a169de725f | 129 | } |
shimniok | 0:a6a169de725f | 130 | |
shimniok | 0:a6a169de725f | 131 | /** |
shimniok | 0:a6a169de725f | 132 | * @brief Get field x from marker message |
shimniok | 0:a6a169de725f | 133 | * |
shimniok | 0:a6a169de725f | 134 | * @return x position |
shimniok | 0:a6a169de725f | 135 | */ |
shimniok | 0:a6a169de725f | 136 | static inline float mavlink_msg_marker_get_x(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 137 | { |
shimniok | 0:a6a169de725f | 138 | generic_32bit r; |
shimniok | 0:a6a169de725f | 139 | r.b[3] = (msg->payload+sizeof(uint16_t))[0]; |
shimniok | 0:a6a169de725f | 140 | r.b[2] = (msg->payload+sizeof(uint16_t))[1]; |
shimniok | 0:a6a169de725f | 141 | r.b[1] = (msg->payload+sizeof(uint16_t))[2]; |
shimniok | 0:a6a169de725f | 142 | r.b[0] = (msg->payload+sizeof(uint16_t))[3]; |
shimniok | 0:a6a169de725f | 143 | return (float)r.f; |
shimniok | 0:a6a169de725f | 144 | } |
shimniok | 0:a6a169de725f | 145 | |
shimniok | 0:a6a169de725f | 146 | /** |
shimniok | 0:a6a169de725f | 147 | * @brief Get field y from marker message |
shimniok | 0:a6a169de725f | 148 | * |
shimniok | 0:a6a169de725f | 149 | * @return y position |
shimniok | 0:a6a169de725f | 150 | */ |
shimniok | 0:a6a169de725f | 151 | static inline float mavlink_msg_marker_get_y(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 152 | { |
shimniok | 0:a6a169de725f | 153 | generic_32bit r; |
shimniok | 0:a6a169de725f | 154 | r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 155 | r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 156 | r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 157 | r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 158 | return (float)r.f; |
shimniok | 0:a6a169de725f | 159 | } |
shimniok | 0:a6a169de725f | 160 | |
shimniok | 0:a6a169de725f | 161 | /** |
shimniok | 0:a6a169de725f | 162 | * @brief Get field z from marker message |
shimniok | 0:a6a169de725f | 163 | * |
shimniok | 0:a6a169de725f | 164 | * @return z position |
shimniok | 0:a6a169de725f | 165 | */ |
shimniok | 0:a6a169de725f | 166 | static inline float mavlink_msg_marker_get_z(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 167 | { |
shimniok | 0:a6a169de725f | 168 | generic_32bit r; |
shimniok | 0:a6a169de725f | 169 | r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 170 | r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 171 | r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 172 | r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 173 | return (float)r.f; |
shimniok | 0:a6a169de725f | 174 | } |
shimniok | 0:a6a169de725f | 175 | |
shimniok | 0:a6a169de725f | 176 | /** |
shimniok | 0:a6a169de725f | 177 | * @brief Get field roll from marker message |
shimniok | 0:a6a169de725f | 178 | * |
shimniok | 0:a6a169de725f | 179 | * @return roll orientation |
shimniok | 0:a6a169de725f | 180 | */ |
shimniok | 0:a6a169de725f | 181 | static inline float mavlink_msg_marker_get_roll(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 182 | { |
shimniok | 0:a6a169de725f | 183 | generic_32bit r; |
shimniok | 0:a6a169de725f | 184 | r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 185 | r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 186 | r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 187 | r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 188 | return (float)r.f; |
shimniok | 0:a6a169de725f | 189 | } |
shimniok | 0:a6a169de725f | 190 | |
shimniok | 0:a6a169de725f | 191 | /** |
shimniok | 0:a6a169de725f | 192 | * @brief Get field pitch from marker message |
shimniok | 0:a6a169de725f | 193 | * |
shimniok | 0:a6a169de725f | 194 | * @return pitch orientation |
shimniok | 0:a6a169de725f | 195 | */ |
shimniok | 0:a6a169de725f | 196 | static inline float mavlink_msg_marker_get_pitch(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 197 | { |
shimniok | 0:a6a169de725f | 198 | generic_32bit r; |
shimniok | 0:a6a169de725f | 199 | r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 200 | r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 201 | r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 202 | r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 203 | return (float)r.f; |
shimniok | 0:a6a169de725f | 204 | } |
shimniok | 0:a6a169de725f | 205 | |
shimniok | 0:a6a169de725f | 206 | /** |
shimniok | 0:a6a169de725f | 207 | * @brief Get field yaw from marker message |
shimniok | 0:a6a169de725f | 208 | * |
shimniok | 0:a6a169de725f | 209 | * @return yaw orientation |
shimniok | 0:a6a169de725f | 210 | */ |
shimniok | 0:a6a169de725f | 211 | static inline float mavlink_msg_marker_get_yaw(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 212 | { |
shimniok | 0:a6a169de725f | 213 | generic_32bit r; |
shimniok | 0:a6a169de725f | 214 | r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 215 | r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 216 | r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 217 | r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 218 | return (float)r.f; |
shimniok | 0:a6a169de725f | 219 | } |
shimniok | 0:a6a169de725f | 220 | |
shimniok | 0:a6a169de725f | 221 | /** |
shimniok | 0:a6a169de725f | 222 | * @brief Decode a marker message into a struct |
shimniok | 0:a6a169de725f | 223 | * |
shimniok | 0:a6a169de725f | 224 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 225 | * @param marker C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 226 | */ |
shimniok | 0:a6a169de725f | 227 | static inline void mavlink_msg_marker_decode(const mavlink_message_t* msg, mavlink_marker_t* marker) |
shimniok | 0:a6a169de725f | 228 | { |
shimniok | 0:a6a169de725f | 229 | marker->id = mavlink_msg_marker_get_id(msg); |
shimniok | 0:a6a169de725f | 230 | marker->x = mavlink_msg_marker_get_x(msg); |
shimniok | 0:a6a169de725f | 231 | marker->y = mavlink_msg_marker_get_y(msg); |
shimniok | 0:a6a169de725f | 232 | marker->z = mavlink_msg_marker_get_z(msg); |
shimniok | 0:a6a169de725f | 233 | marker->roll = mavlink_msg_marker_get_roll(msg); |
shimniok | 0:a6a169de725f | 234 | marker->pitch = mavlink_msg_marker_get_pitch(msg); |
shimniok | 0:a6a169de725f | 235 | marker->yaw = mavlink_msg_marker_get_yaw(msg); |
shimniok | 0:a6a169de725f | 236 | } |