![](/media/cache/profiles/2012_sf_avc_095.jpg.50x50_q85.jpg)
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/slugs/mavlink_msg_data_log.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 | // MESSAGE DATA_LOG PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_DATA_LOG 177 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_data_log_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | float fl_1; ///< Log value 1 |
shimniok | 0:a6a169de725f | 8 | float fl_2; ///< Log value 2 |
shimniok | 0:a6a169de725f | 9 | float fl_3; ///< Log value 3 |
shimniok | 0:a6a169de725f | 10 | float fl_4; ///< Log value 4 |
shimniok | 0:a6a169de725f | 11 | float fl_5; ///< Log value 5 |
shimniok | 0:a6a169de725f | 12 | float fl_6; ///< Log value 6 |
shimniok | 0:a6a169de725f | 13 | |
shimniok | 0:a6a169de725f | 14 | } mavlink_data_log_t; |
shimniok | 0:a6a169de725f | 15 | |
shimniok | 0:a6a169de725f | 16 | |
shimniok | 0:a6a169de725f | 17 | |
shimniok | 0:a6a169de725f | 18 | /** |
shimniok | 0:a6a169de725f | 19 | * @brief Pack a data_log message |
shimniok | 0:a6a169de725f | 20 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 21 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 22 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 23 | * |
shimniok | 0:a6a169de725f | 24 | * @param fl_1 Log value 1 |
shimniok | 0:a6a169de725f | 25 | * @param fl_2 Log value 2 |
shimniok | 0:a6a169de725f | 26 | * @param fl_3 Log value 3 |
shimniok | 0:a6a169de725f | 27 | * @param fl_4 Log value 4 |
shimniok | 0:a6a169de725f | 28 | * @param fl_5 Log value 5 |
shimniok | 0:a6a169de725f | 29 | * @param fl_6 Log value 6 |
shimniok | 0:a6a169de725f | 30 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 31 | */ |
shimniok | 0:a6a169de725f | 32 | static inline uint16_t mavlink_msg_data_log_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float fl_1, float fl_2, float fl_3, float fl_4, float fl_5, float fl_6) |
shimniok | 0:a6a169de725f | 33 | { |
shimniok | 0:a6a169de725f | 34 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 35 | msg->msgid = MAVLINK_MSG_ID_DATA_LOG; |
shimniok | 0:a6a169de725f | 36 | |
shimniok | 0:a6a169de725f | 37 | i += put_float_by_index(fl_1, i, msg->payload); // Log value 1 |
shimniok | 0:a6a169de725f | 38 | i += put_float_by_index(fl_2, i, msg->payload); // Log value 2 |
shimniok | 0:a6a169de725f | 39 | i += put_float_by_index(fl_3, i, msg->payload); // Log value 3 |
shimniok | 0:a6a169de725f | 40 | i += put_float_by_index(fl_4, i, msg->payload); // Log value 4 |
shimniok | 0:a6a169de725f | 41 | i += put_float_by_index(fl_5, i, msg->payload); // Log value 5 |
shimniok | 0:a6a169de725f | 42 | i += put_float_by_index(fl_6, i, msg->payload); // Log value 6 |
shimniok | 0:a6a169de725f | 43 | |
shimniok | 0:a6a169de725f | 44 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 45 | } |
shimniok | 0:a6a169de725f | 46 | |
shimniok | 0:a6a169de725f | 47 | /** |
shimniok | 0:a6a169de725f | 48 | * @brief Pack a data_log message |
shimniok | 0:a6a169de725f | 49 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 50 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 51 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 52 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 53 | * @param fl_1 Log value 1 |
shimniok | 0:a6a169de725f | 54 | * @param fl_2 Log value 2 |
shimniok | 0:a6a169de725f | 55 | * @param fl_3 Log value 3 |
shimniok | 0:a6a169de725f | 56 | * @param fl_4 Log value 4 |
shimniok | 0:a6a169de725f | 57 | * @param fl_5 Log value 5 |
shimniok | 0:a6a169de725f | 58 | * @param fl_6 Log value 6 |
shimniok | 0:a6a169de725f | 59 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 60 | */ |
shimniok | 0:a6a169de725f | 61 | static inline uint16_t mavlink_msg_data_log_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float fl_1, float fl_2, float fl_3, float fl_4, float fl_5, float fl_6) |
shimniok | 0:a6a169de725f | 62 | { |
shimniok | 0:a6a169de725f | 63 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 64 | msg->msgid = MAVLINK_MSG_ID_DATA_LOG; |
shimniok | 0:a6a169de725f | 65 | |
shimniok | 0:a6a169de725f | 66 | i += put_float_by_index(fl_1, i, msg->payload); // Log value 1 |
shimniok | 0:a6a169de725f | 67 | i += put_float_by_index(fl_2, i, msg->payload); // Log value 2 |
shimniok | 0:a6a169de725f | 68 | i += put_float_by_index(fl_3, i, msg->payload); // Log value 3 |
shimniok | 0:a6a169de725f | 69 | i += put_float_by_index(fl_4, i, msg->payload); // Log value 4 |
shimniok | 0:a6a169de725f | 70 | i += put_float_by_index(fl_5, i, msg->payload); // Log value 5 |
shimniok | 0:a6a169de725f | 71 | i += put_float_by_index(fl_6, i, msg->payload); // Log value 6 |
shimniok | 0:a6a169de725f | 72 | |
shimniok | 0:a6a169de725f | 73 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:a6a169de725f | 74 | } |
shimniok | 0:a6a169de725f | 75 | |
shimniok | 0:a6a169de725f | 76 | /** |
shimniok | 0:a6a169de725f | 77 | * @brief Encode a data_log struct into a message |
shimniok | 0:a6a169de725f | 78 | * |
shimniok | 0:a6a169de725f | 79 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 80 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 81 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 82 | * @param data_log C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 83 | */ |
shimniok | 0:a6a169de725f | 84 | static inline uint16_t mavlink_msg_data_log_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_log_t* data_log) |
shimniok | 0:a6a169de725f | 85 | { |
shimniok | 0:a6a169de725f | 86 | return mavlink_msg_data_log_pack(system_id, component_id, msg, data_log->fl_1, data_log->fl_2, data_log->fl_3, data_log->fl_4, data_log->fl_5, data_log->fl_6); |
shimniok | 0:a6a169de725f | 87 | } |
shimniok | 0:a6a169de725f | 88 | |
shimniok | 0:a6a169de725f | 89 | /** |
shimniok | 0:a6a169de725f | 90 | * @brief Send a data_log message |
shimniok | 0:a6a169de725f | 91 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 92 | * |
shimniok | 0:a6a169de725f | 93 | * @param fl_1 Log value 1 |
shimniok | 0:a6a169de725f | 94 | * @param fl_2 Log value 2 |
shimniok | 0:a6a169de725f | 95 | * @param fl_3 Log value 3 |
shimniok | 0:a6a169de725f | 96 | * @param fl_4 Log value 4 |
shimniok | 0:a6a169de725f | 97 | * @param fl_5 Log value 5 |
shimniok | 0:a6a169de725f | 98 | * @param fl_6 Log value 6 |
shimniok | 0:a6a169de725f | 99 | */ |
shimniok | 0:a6a169de725f | 100 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 101 | |
shimniok | 0:a6a169de725f | 102 | static inline void mavlink_msg_data_log_send(mavlink_channel_t chan, float fl_1, float fl_2, float fl_3, float fl_4, float fl_5, float fl_6) |
shimniok | 0:a6a169de725f | 103 | { |
shimniok | 0:a6a169de725f | 104 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 105 | mavlink_msg_data_log_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, fl_1, fl_2, fl_3, fl_4, fl_5, fl_6); |
shimniok | 0:a6a169de725f | 106 | mavlink_send_uart(chan, &msg); |
shimniok | 0:a6a169de725f | 107 | } |
shimniok | 0:a6a169de725f | 108 | |
shimniok | 0:a6a169de725f | 109 | #endif |
shimniok | 0:a6a169de725f | 110 | // MESSAGE DATA_LOG UNPACKING |
shimniok | 0:a6a169de725f | 111 | |
shimniok | 0:a6a169de725f | 112 | /** |
shimniok | 0:a6a169de725f | 113 | * @brief Get field fl_1 from data_log message |
shimniok | 0:a6a169de725f | 114 | * |
shimniok | 0:a6a169de725f | 115 | * @return Log value 1 |
shimniok | 0:a6a169de725f | 116 | */ |
shimniok | 0:a6a169de725f | 117 | static inline float mavlink_msg_data_log_get_fl_1(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 118 | { |
shimniok | 0:a6a169de725f | 119 | generic_32bit r; |
shimniok | 0:a6a169de725f | 120 | r.b[3] = (msg->payload)[0]; |
shimniok | 0:a6a169de725f | 121 | r.b[2] = (msg->payload)[1]; |
shimniok | 0:a6a169de725f | 122 | r.b[1] = (msg->payload)[2]; |
shimniok | 0:a6a169de725f | 123 | r.b[0] = (msg->payload)[3]; |
shimniok | 0:a6a169de725f | 124 | return (float)r.f; |
shimniok | 0:a6a169de725f | 125 | } |
shimniok | 0:a6a169de725f | 126 | |
shimniok | 0:a6a169de725f | 127 | /** |
shimniok | 0:a6a169de725f | 128 | * @brief Get field fl_2 from data_log message |
shimniok | 0:a6a169de725f | 129 | * |
shimniok | 0:a6a169de725f | 130 | * @return Log value 2 |
shimniok | 0:a6a169de725f | 131 | */ |
shimniok | 0:a6a169de725f | 132 | static inline float mavlink_msg_data_log_get_fl_2(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 133 | { |
shimniok | 0:a6a169de725f | 134 | generic_32bit r; |
shimniok | 0:a6a169de725f | 135 | r.b[3] = (msg->payload+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 136 | r.b[2] = (msg->payload+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 137 | r.b[1] = (msg->payload+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 138 | r.b[0] = (msg->payload+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 139 | return (float)r.f; |
shimniok | 0:a6a169de725f | 140 | } |
shimniok | 0:a6a169de725f | 141 | |
shimniok | 0:a6a169de725f | 142 | /** |
shimniok | 0:a6a169de725f | 143 | * @brief Get field fl_3 from data_log message |
shimniok | 0:a6a169de725f | 144 | * |
shimniok | 0:a6a169de725f | 145 | * @return Log value 3 |
shimniok | 0:a6a169de725f | 146 | */ |
shimniok | 0:a6a169de725f | 147 | static inline float mavlink_msg_data_log_get_fl_3(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 148 | { |
shimniok | 0:a6a169de725f | 149 | generic_32bit r; |
shimniok | 0:a6a169de725f | 150 | r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 151 | r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 152 | r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 153 | r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 154 | return (float)r.f; |
shimniok | 0:a6a169de725f | 155 | } |
shimniok | 0:a6a169de725f | 156 | |
shimniok | 0:a6a169de725f | 157 | /** |
shimniok | 0:a6a169de725f | 158 | * @brief Get field fl_4 from data_log message |
shimniok | 0:a6a169de725f | 159 | * |
shimniok | 0:a6a169de725f | 160 | * @return Log value 4 |
shimniok | 0:a6a169de725f | 161 | */ |
shimniok | 0:a6a169de725f | 162 | static inline float mavlink_msg_data_log_get_fl_4(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 163 | { |
shimniok | 0:a6a169de725f | 164 | generic_32bit r; |
shimniok | 0:a6a169de725f | 165 | r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 166 | r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 167 | r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 168 | r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 169 | return (float)r.f; |
shimniok | 0:a6a169de725f | 170 | } |
shimniok | 0:a6a169de725f | 171 | |
shimniok | 0:a6a169de725f | 172 | /** |
shimniok | 0:a6a169de725f | 173 | * @brief Get field fl_5 from data_log message |
shimniok | 0:a6a169de725f | 174 | * |
shimniok | 0:a6a169de725f | 175 | * @return Log value 5 |
shimniok | 0:a6a169de725f | 176 | */ |
shimniok | 0:a6a169de725f | 177 | static inline float mavlink_msg_data_log_get_fl_5(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 178 | { |
shimniok | 0:a6a169de725f | 179 | generic_32bit r; |
shimniok | 0:a6a169de725f | 180 | r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 181 | r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 182 | r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 183 | r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 184 | return (float)r.f; |
shimniok | 0:a6a169de725f | 185 | } |
shimniok | 0:a6a169de725f | 186 | |
shimniok | 0:a6a169de725f | 187 | /** |
shimniok | 0:a6a169de725f | 188 | * @brief Get field fl_6 from data_log message |
shimniok | 0:a6a169de725f | 189 | * |
shimniok | 0:a6a169de725f | 190 | * @return Log value 6 |
shimniok | 0:a6a169de725f | 191 | */ |
shimniok | 0:a6a169de725f | 192 | static inline float mavlink_msg_data_log_get_fl_6(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 193 | { |
shimniok | 0:a6a169de725f | 194 | generic_32bit r; |
shimniok | 0:a6a169de725f | 195 | r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 196 | r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 197 | r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 198 | r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 199 | return (float)r.f; |
shimniok | 0:a6a169de725f | 200 | } |
shimniok | 0:a6a169de725f | 201 | |
shimniok | 0:a6a169de725f | 202 | /** |
shimniok | 0:a6a169de725f | 203 | * @brief Decode a data_log message into a struct |
shimniok | 0:a6a169de725f | 204 | * |
shimniok | 0:a6a169de725f | 205 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 206 | * @param data_log C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 207 | */ |
shimniok | 0:a6a169de725f | 208 | static inline void mavlink_msg_data_log_decode(const mavlink_message_t* msg, mavlink_data_log_t* data_log) |
shimniok | 0:a6a169de725f | 209 | { |
shimniok | 0:a6a169de725f | 210 | data_log->fl_1 = mavlink_msg_data_log_get_fl_1(msg); |
shimniok | 0:a6a169de725f | 211 | data_log->fl_2 = mavlink_msg_data_log_get_fl_2(msg); |
shimniok | 0:a6a169de725f | 212 | data_log->fl_3 = mavlink_msg_data_log_get_fl_3(msg); |
shimniok | 0:a6a169de725f | 213 | data_log->fl_4 = mavlink_msg_data_log_get_fl_4(msg); |
shimniok | 0:a6a169de725f | 214 | data_log->fl_5 = mavlink_msg_data_log_get_fl_5(msg); |
shimniok | 0:a6a169de725f | 215 | data_log->fl_6 = mavlink_msg_data_log_get_fl_6(msg); |
shimniok | 0:a6a169de725f | 216 | } |