![](/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_mid_lvl_cmds.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 MID_LVL_CMDS PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_MID_LVL_CMDS 180 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_mid_lvl_cmds_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | uint8_t target; ///< The system setting the commands |
shimniok | 0:a6a169de725f | 8 | float hCommand; ///< Commanded Airspeed |
shimniok | 0:a6a169de725f | 9 | float uCommand; ///< Log value 2 |
shimniok | 0:a6a169de725f | 10 | float rCommand; ///< Log value 3 |
shimniok | 0:a6a169de725f | 11 | |
shimniok | 0:a6a169de725f | 12 | } mavlink_mid_lvl_cmds_t; |
shimniok | 0:a6a169de725f | 13 | |
shimniok | 0:a6a169de725f | 14 | |
shimniok | 0:a6a169de725f | 15 | |
shimniok | 0:a6a169de725f | 16 | /** |
shimniok | 0:a6a169de725f | 17 | * @brief Pack a mid_lvl_cmds message |
shimniok | 0:a6a169de725f | 18 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 19 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 20 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 21 | * |
shimniok | 0:a6a169de725f | 22 | * @param target The system setting the commands |
shimniok | 0:a6a169de725f | 23 | * @param hCommand Commanded Airspeed |
shimniok | 0:a6a169de725f | 24 | * @param uCommand Log value 2 |
shimniok | 0:a6a169de725f | 25 | * @param rCommand Log value 3 |
shimniok | 0:a6a169de725f | 26 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 27 | */ |
shimniok | 0:a6a169de725f | 28 | static inline uint16_t mavlink_msg_mid_lvl_cmds_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, float hCommand, float uCommand, float rCommand) |
shimniok | 0:a6a169de725f | 29 | { |
shimniok | 0:a6a169de725f | 30 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 31 | msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS; |
shimniok | 0:a6a169de725f | 32 | |
shimniok | 0:a6a169de725f | 33 | i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the commands |
shimniok | 0:a6a169de725f | 34 | i += put_float_by_index(hCommand, i, msg->payload); // Commanded Airspeed |
shimniok | 0:a6a169de725f | 35 | i += put_float_by_index(uCommand, i, msg->payload); // Log value 2 |
shimniok | 0:a6a169de725f | 36 | i += put_float_by_index(rCommand, i, msg->payload); // Log value 3 |
shimniok | 0:a6a169de725f | 37 | |
shimniok | 0:a6a169de725f | 38 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 39 | } |
shimniok | 0:a6a169de725f | 40 | |
shimniok | 0:a6a169de725f | 41 | /** |
shimniok | 0:a6a169de725f | 42 | * @brief Pack a mid_lvl_cmds message |
shimniok | 0:a6a169de725f | 43 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 44 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 45 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 46 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 47 | * @param target The system setting the commands |
shimniok | 0:a6a169de725f | 48 | * @param hCommand Commanded Airspeed |
shimniok | 0:a6a169de725f | 49 | * @param uCommand Log value 2 |
shimniok | 0:a6a169de725f | 50 | * @param rCommand Log value 3 |
shimniok | 0:a6a169de725f | 51 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 52 | */ |
shimniok | 0:a6a169de725f | 53 | static inline uint16_t mavlink_msg_mid_lvl_cmds_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float hCommand, float uCommand, float rCommand) |
shimniok | 0:a6a169de725f | 54 | { |
shimniok | 0:a6a169de725f | 55 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 56 | msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS; |
shimniok | 0:a6a169de725f | 57 | |
shimniok | 0:a6a169de725f | 58 | i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the commands |
shimniok | 0:a6a169de725f | 59 | i += put_float_by_index(hCommand, i, msg->payload); // Commanded Airspeed |
shimniok | 0:a6a169de725f | 60 | i += put_float_by_index(uCommand, i, msg->payload); // Log value 2 |
shimniok | 0:a6a169de725f | 61 | i += put_float_by_index(rCommand, i, msg->payload); // Log value 3 |
shimniok | 0:a6a169de725f | 62 | |
shimniok | 0:a6a169de725f | 63 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:a6a169de725f | 64 | } |
shimniok | 0:a6a169de725f | 65 | |
shimniok | 0:a6a169de725f | 66 | /** |
shimniok | 0:a6a169de725f | 67 | * @brief Encode a mid_lvl_cmds struct into a message |
shimniok | 0:a6a169de725f | 68 | * |
shimniok | 0:a6a169de725f | 69 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 70 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 71 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 72 | * @param mid_lvl_cmds C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 73 | */ |
shimniok | 0:a6a169de725f | 74 | static inline uint16_t mavlink_msg_mid_lvl_cmds_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mid_lvl_cmds_t* mid_lvl_cmds) |
shimniok | 0:a6a169de725f | 75 | { |
shimniok | 0:a6a169de725f | 76 | return mavlink_msg_mid_lvl_cmds_pack(system_id, component_id, msg, mid_lvl_cmds->target, mid_lvl_cmds->hCommand, mid_lvl_cmds->uCommand, mid_lvl_cmds->rCommand); |
shimniok | 0:a6a169de725f | 77 | } |
shimniok | 0:a6a169de725f | 78 | |
shimniok | 0:a6a169de725f | 79 | /** |
shimniok | 0:a6a169de725f | 80 | * @brief Send a mid_lvl_cmds message |
shimniok | 0:a6a169de725f | 81 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 82 | * |
shimniok | 0:a6a169de725f | 83 | * @param target The system setting the commands |
shimniok | 0:a6a169de725f | 84 | * @param hCommand Commanded Airspeed |
shimniok | 0:a6a169de725f | 85 | * @param uCommand Log value 2 |
shimniok | 0:a6a169de725f | 86 | * @param rCommand Log value 3 |
shimniok | 0:a6a169de725f | 87 | */ |
shimniok | 0:a6a169de725f | 88 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 89 | |
shimniok | 0:a6a169de725f | 90 | static inline void mavlink_msg_mid_lvl_cmds_send(mavlink_channel_t chan, uint8_t target, float hCommand, float uCommand, float rCommand) |
shimniok | 0:a6a169de725f | 91 | { |
shimniok | 0:a6a169de725f | 92 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 93 | mavlink_msg_mid_lvl_cmds_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, hCommand, uCommand, rCommand); |
shimniok | 0:a6a169de725f | 94 | mavlink_send_uart(chan, &msg); |
shimniok | 0:a6a169de725f | 95 | } |
shimniok | 0:a6a169de725f | 96 | |
shimniok | 0:a6a169de725f | 97 | #endif |
shimniok | 0:a6a169de725f | 98 | // MESSAGE MID_LVL_CMDS UNPACKING |
shimniok | 0:a6a169de725f | 99 | |
shimniok | 0:a6a169de725f | 100 | /** |
shimniok | 0:a6a169de725f | 101 | * @brief Get field target from mid_lvl_cmds message |
shimniok | 0:a6a169de725f | 102 | * |
shimniok | 0:a6a169de725f | 103 | * @return The system setting the commands |
shimniok | 0:a6a169de725f | 104 | */ |
shimniok | 0:a6a169de725f | 105 | static inline uint8_t mavlink_msg_mid_lvl_cmds_get_target(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 106 | { |
shimniok | 0:a6a169de725f | 107 | return (uint8_t)(msg->payload)[0]; |
shimniok | 0:a6a169de725f | 108 | } |
shimniok | 0:a6a169de725f | 109 | |
shimniok | 0:a6a169de725f | 110 | /** |
shimniok | 0:a6a169de725f | 111 | * @brief Get field hCommand from mid_lvl_cmds message |
shimniok | 0:a6a169de725f | 112 | * |
shimniok | 0:a6a169de725f | 113 | * @return Commanded Airspeed |
shimniok | 0:a6a169de725f | 114 | */ |
shimniok | 0:a6a169de725f | 115 | static inline float mavlink_msg_mid_lvl_cmds_get_hCommand(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 116 | { |
shimniok | 0:a6a169de725f | 117 | generic_32bit r; |
shimniok | 0:a6a169de725f | 118 | r.b[3] = (msg->payload+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 119 | r.b[2] = (msg->payload+sizeof(uint8_t))[1]; |
shimniok | 0:a6a169de725f | 120 | r.b[1] = (msg->payload+sizeof(uint8_t))[2]; |
shimniok | 0:a6a169de725f | 121 | r.b[0] = (msg->payload+sizeof(uint8_t))[3]; |
shimniok | 0:a6a169de725f | 122 | return (float)r.f; |
shimniok | 0:a6a169de725f | 123 | } |
shimniok | 0:a6a169de725f | 124 | |
shimniok | 0:a6a169de725f | 125 | /** |
shimniok | 0:a6a169de725f | 126 | * @brief Get field uCommand from mid_lvl_cmds message |
shimniok | 0:a6a169de725f | 127 | * |
shimniok | 0:a6a169de725f | 128 | * @return Log value 2 |
shimniok | 0:a6a169de725f | 129 | */ |
shimniok | 0:a6a169de725f | 130 | static inline float mavlink_msg_mid_lvl_cmds_get_uCommand(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 131 | { |
shimniok | 0:a6a169de725f | 132 | generic_32bit r; |
shimniok | 0:a6a169de725f | 133 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 134 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 135 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 136 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 137 | return (float)r.f; |
shimniok | 0:a6a169de725f | 138 | } |
shimniok | 0:a6a169de725f | 139 | |
shimniok | 0:a6a169de725f | 140 | /** |
shimniok | 0:a6a169de725f | 141 | * @brief Get field rCommand from mid_lvl_cmds message |
shimniok | 0:a6a169de725f | 142 | * |
shimniok | 0:a6a169de725f | 143 | * @return Log value 3 |
shimniok | 0:a6a169de725f | 144 | */ |
shimniok | 0:a6a169de725f | 145 | static inline float mavlink_msg_mid_lvl_cmds_get_rCommand(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 146 | { |
shimniok | 0:a6a169de725f | 147 | generic_32bit r; |
shimniok | 0:a6a169de725f | 148 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 149 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 150 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 151 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 152 | return (float)r.f; |
shimniok | 0:a6a169de725f | 153 | } |
shimniok | 0:a6a169de725f | 154 | |
shimniok | 0:a6a169de725f | 155 | /** |
shimniok | 0:a6a169de725f | 156 | * @brief Decode a mid_lvl_cmds message into a struct |
shimniok | 0:a6a169de725f | 157 | * |
shimniok | 0:a6a169de725f | 158 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 159 | * @param mid_lvl_cmds C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 160 | */ |
shimniok | 0:a6a169de725f | 161 | static inline void mavlink_msg_mid_lvl_cmds_decode(const mavlink_message_t* msg, mavlink_mid_lvl_cmds_t* mid_lvl_cmds) |
shimniok | 0:a6a169de725f | 162 | { |
shimniok | 0:a6a169de725f | 163 | mid_lvl_cmds->target = mavlink_msg_mid_lvl_cmds_get_target(msg); |
shimniok | 0:a6a169de725f | 164 | mid_lvl_cmds->hCommand = mavlink_msg_mid_lvl_cmds_get_hCommand(msg); |
shimniok | 0:a6a169de725f | 165 | mid_lvl_cmds->uCommand = mavlink_msg_mid_lvl_cmds_get_uCommand(msg); |
shimniok | 0:a6a169de725f | 166 | mid_lvl_cmds->rCommand = mavlink_msg_mid_lvl_cmds_get_rCommand(msg); |
shimniok | 0:a6a169de725f | 167 | } |