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/mavlink_bridge.h@25:bb5356402687, 2018-11-30 (annotated)
- Committer:
- shimniok
- Date:
- Fri Nov 30 16:11:53 2018 +0000
- Revision:
- 25:bb5356402687
- Parent:
- 0:a6a169de725f
Initial publish of revised version.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:a6a169de725f | 1 | /* MAVLink adapter header */ |
shimniok | 0:a6a169de725f | 2 | #ifndef __MAVLINK_BRIDGE_HEADER_H |
shimniok | 0:a6a169de725f | 3 | #define __MAVLINK_BRIDGE_HEADER_H |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | #define MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 6 | |
shimniok | 0:a6a169de725f | 7 | #include "mavlink_types.h" |
shimniok | 0:a6a169de725f | 8 | |
shimniok | 0:a6a169de725f | 9 | /* Struct that stores the communication settings of this system. |
shimniok | 0:a6a169de725f | 10 | you can also define / alter these settings elsewhere, as long |
shimniok | 0:a6a169de725f | 11 | as they're included BEFORE mavlink.h. |
shimniok | 0:a6a169de725f | 12 | So you can set the |
shimniok | 0:a6a169de725f | 13 | |
shimniok | 0:a6a169de725f | 14 | mavlink_system.sysid = 100; // System ID, 1-255 |
shimniok | 0:a6a169de725f | 15 | mavlink_system.compid = 50; // Component/Subsystem ID, 1-255 |
shimniok | 0:a6a169de725f | 16 | |
shimniok | 0:a6a169de725f | 17 | Lines also in your main.c, e.g. by reading these parameter from EEPROM. |
shimniok | 0:a6a169de725f | 18 | */ |
shimniok | 0:a6a169de725f | 19 | mavlink_system_t mavlink_system; |
shimniok | 0:a6a169de725f | 20 | |
shimniok | 0:a6a169de725f | 21 | /** |
shimniok | 0:a6a169de725f | 22 | * @brief Send one char (uint8_t) over a comm channel |
shimniok | 0:a6a169de725f | 23 | * |
shimniok | 0:a6a169de725f | 24 | * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0 |
shimniok | 0:a6a169de725f | 25 | * @param ch Character to send |
shimniok | 0:a6a169de725f | 26 | */ |
shimniok | 0:a6a169de725f | 27 | static inline void comm_send_ch(mavlink_channel_t chan, uint8_t ch) { |
shimniok | 0:a6a169de725f | 28 | extern Serial pc; |
shimniok | 0:a6a169de725f | 29 | |
shimniok | 0:a6a169de725f | 30 | if (chan == MAVLINK_COMM_0) { |
shimniok | 0:a6a169de725f | 31 | pc.putc(ch); |
shimniok | 0:a6a169de725f | 32 | } |
shimniok | 0:a6a169de725f | 33 | if (chan == MAVLINK_COMM_1) { |
shimniok | 0:a6a169de725f | 34 | // write to mavlink logfile |
shimniok | 0:a6a169de725f | 35 | } |
shimniok | 0:a6a169de725f | 36 | } |
shimniok | 0:a6a169de725f | 37 | |
shimniok | 0:a6a169de725f | 38 | #include "protocol.h" |
shimniok | 0:a6a169de725f | 39 | #include "common/common.h" |
shimniok | 0:a6a169de725f | 40 | |
shimniok | 0:a6a169de725f | 41 | #endif /* YOUR_MAVLINK_BRIDGE_HEADER_H *//* MAVLink adapter header */ |