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_sensor_bias.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 SENSOR_BIAS PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_SENSOR_BIAS 172 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_sensor_bias_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | float axBias; ///< Accelerometer X bias (m/s) |
shimniok | 0:a6a169de725f | 8 | float ayBias; ///< Accelerometer Y bias (m/s) |
shimniok | 0:a6a169de725f | 9 | float azBias; ///< Accelerometer Z bias (m/s) |
shimniok | 0:a6a169de725f | 10 | float gxBias; ///< Gyro X bias (rad/s) |
shimniok | 0:a6a169de725f | 11 | float gyBias; ///< Gyro Y bias (rad/s) |
shimniok | 0:a6a169de725f | 12 | float gzBias; ///< Gyro Z bias (rad/s) |
shimniok | 0:a6a169de725f | 13 | |
shimniok | 0:a6a169de725f | 14 | } mavlink_sensor_bias_t; |
shimniok | 0:a6a169de725f | 15 | |
shimniok | 0:a6a169de725f | 16 | |
shimniok | 0:a6a169de725f | 17 | |
shimniok | 0:a6a169de725f | 18 | /** |
shimniok | 0:a6a169de725f | 19 | * @brief Pack a sensor_bias 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 axBias Accelerometer X bias (m/s) |
shimniok | 0:a6a169de725f | 25 | * @param ayBias Accelerometer Y bias (m/s) |
shimniok | 0:a6a169de725f | 26 | * @param azBias Accelerometer Z bias (m/s) |
shimniok | 0:a6a169de725f | 27 | * @param gxBias Gyro X bias (rad/s) |
shimniok | 0:a6a169de725f | 28 | * @param gyBias Gyro Y bias (rad/s) |
shimniok | 0:a6a169de725f | 29 | * @param gzBias Gyro Z bias (rad/s) |
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_sensor_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias) |
shimniok | 0:a6a169de725f | 33 | { |
shimniok | 0:a6a169de725f | 34 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 35 | msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS; |
shimniok | 0:a6a169de725f | 36 | |
shimniok | 0:a6a169de725f | 37 | i += put_float_by_index(axBias, i, msg->payload); // Accelerometer X bias (m/s) |
shimniok | 0:a6a169de725f | 38 | i += put_float_by_index(ayBias, i, msg->payload); // Accelerometer Y bias (m/s) |
shimniok | 0:a6a169de725f | 39 | i += put_float_by_index(azBias, i, msg->payload); // Accelerometer Z bias (m/s) |
shimniok | 0:a6a169de725f | 40 | i += put_float_by_index(gxBias, i, msg->payload); // Gyro X bias (rad/s) |
shimniok | 0:a6a169de725f | 41 | i += put_float_by_index(gyBias, i, msg->payload); // Gyro Y bias (rad/s) |
shimniok | 0:a6a169de725f | 42 | i += put_float_by_index(gzBias, i, msg->payload); // Gyro Z bias (rad/s) |
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 sensor_bias 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 axBias Accelerometer X bias (m/s) |
shimniok | 0:a6a169de725f | 54 | * @param ayBias Accelerometer Y bias (m/s) |
shimniok | 0:a6a169de725f | 55 | * @param azBias Accelerometer Z bias (m/s) |
shimniok | 0:a6a169de725f | 56 | * @param gxBias Gyro X bias (rad/s) |
shimniok | 0:a6a169de725f | 57 | * @param gyBias Gyro Y bias (rad/s) |
shimniok | 0:a6a169de725f | 58 | * @param gzBias Gyro Z bias (rad/s) |
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_sensor_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias) |
shimniok | 0:a6a169de725f | 62 | { |
shimniok | 0:a6a169de725f | 63 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 64 | msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS; |
shimniok | 0:a6a169de725f | 65 | |
shimniok | 0:a6a169de725f | 66 | i += put_float_by_index(axBias, i, msg->payload); // Accelerometer X bias (m/s) |
shimniok | 0:a6a169de725f | 67 | i += put_float_by_index(ayBias, i, msg->payload); // Accelerometer Y bias (m/s) |
shimniok | 0:a6a169de725f | 68 | i += put_float_by_index(azBias, i, msg->payload); // Accelerometer Z bias (m/s) |
shimniok | 0:a6a169de725f | 69 | i += put_float_by_index(gxBias, i, msg->payload); // Gyro X bias (rad/s) |
shimniok | 0:a6a169de725f | 70 | i += put_float_by_index(gyBias, i, msg->payload); // Gyro Y bias (rad/s) |
shimniok | 0:a6a169de725f | 71 | i += put_float_by_index(gzBias, i, msg->payload); // Gyro Z bias (rad/s) |
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 sensor_bias 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 sensor_bias C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 83 | */ |
shimniok | 0:a6a169de725f | 84 | static inline uint16_t mavlink_msg_sensor_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_bias_t* sensor_bias) |
shimniok | 0:a6a169de725f | 85 | { |
shimniok | 0:a6a169de725f | 86 | return mavlink_msg_sensor_bias_pack(system_id, component_id, msg, sensor_bias->axBias, sensor_bias->ayBias, sensor_bias->azBias, sensor_bias->gxBias, sensor_bias->gyBias, sensor_bias->gzBias); |
shimniok | 0:a6a169de725f | 87 | } |
shimniok | 0:a6a169de725f | 88 | |
shimniok | 0:a6a169de725f | 89 | /** |
shimniok | 0:a6a169de725f | 90 | * @brief Send a sensor_bias message |
shimniok | 0:a6a169de725f | 91 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 92 | * |
shimniok | 0:a6a169de725f | 93 | * @param axBias Accelerometer X bias (m/s) |
shimniok | 0:a6a169de725f | 94 | * @param ayBias Accelerometer Y bias (m/s) |
shimniok | 0:a6a169de725f | 95 | * @param azBias Accelerometer Z bias (m/s) |
shimniok | 0:a6a169de725f | 96 | * @param gxBias Gyro X bias (rad/s) |
shimniok | 0:a6a169de725f | 97 | * @param gyBias Gyro Y bias (rad/s) |
shimniok | 0:a6a169de725f | 98 | * @param gzBias Gyro Z bias (rad/s) |
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_sensor_bias_send(mavlink_channel_t chan, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias) |
shimniok | 0:a6a169de725f | 103 | { |
shimniok | 0:a6a169de725f | 104 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 105 | mavlink_msg_sensor_bias_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, axBias, ayBias, azBias, gxBias, gyBias, gzBias); |
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 SENSOR_BIAS UNPACKING |
shimniok | 0:a6a169de725f | 111 | |
shimniok | 0:a6a169de725f | 112 | /** |
shimniok | 0:a6a169de725f | 113 | * @brief Get field axBias from sensor_bias message |
shimniok | 0:a6a169de725f | 114 | * |
shimniok | 0:a6a169de725f | 115 | * @return Accelerometer X bias (m/s) |
shimniok | 0:a6a169de725f | 116 | */ |
shimniok | 0:a6a169de725f | 117 | static inline float mavlink_msg_sensor_bias_get_axBias(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 ayBias from sensor_bias message |
shimniok | 0:a6a169de725f | 129 | * |
shimniok | 0:a6a169de725f | 130 | * @return Accelerometer Y bias (m/s) |
shimniok | 0:a6a169de725f | 131 | */ |
shimniok | 0:a6a169de725f | 132 | static inline float mavlink_msg_sensor_bias_get_ayBias(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 azBias from sensor_bias message |
shimniok | 0:a6a169de725f | 144 | * |
shimniok | 0:a6a169de725f | 145 | * @return Accelerometer Z bias (m/s) |
shimniok | 0:a6a169de725f | 146 | */ |
shimniok | 0:a6a169de725f | 147 | static inline float mavlink_msg_sensor_bias_get_azBias(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 gxBias from sensor_bias message |
shimniok | 0:a6a169de725f | 159 | * |
shimniok | 0:a6a169de725f | 160 | * @return Gyro X bias (rad/s) |
shimniok | 0:a6a169de725f | 161 | */ |
shimniok | 0:a6a169de725f | 162 | static inline float mavlink_msg_sensor_bias_get_gxBias(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 gyBias from sensor_bias message |
shimniok | 0:a6a169de725f | 174 | * |
shimniok | 0:a6a169de725f | 175 | * @return Gyro Y bias (rad/s) |
shimniok | 0:a6a169de725f | 176 | */ |
shimniok | 0:a6a169de725f | 177 | static inline float mavlink_msg_sensor_bias_get_gyBias(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 gzBias from sensor_bias message |
shimniok | 0:a6a169de725f | 189 | * |
shimniok | 0:a6a169de725f | 190 | * @return Gyro Z bias (rad/s) |
shimniok | 0:a6a169de725f | 191 | */ |
shimniok | 0:a6a169de725f | 192 | static inline float mavlink_msg_sensor_bias_get_gzBias(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 sensor_bias message into a struct |
shimniok | 0:a6a169de725f | 204 | * |
shimniok | 0:a6a169de725f | 205 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 206 | * @param sensor_bias C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 207 | */ |
shimniok | 0:a6a169de725f | 208 | static inline void mavlink_msg_sensor_bias_decode(const mavlink_message_t* msg, mavlink_sensor_bias_t* sensor_bias) |
shimniok | 0:a6a169de725f | 209 | { |
shimniok | 0:a6a169de725f | 210 | sensor_bias->axBias = mavlink_msg_sensor_bias_get_axBias(msg); |
shimniok | 0:a6a169de725f | 211 | sensor_bias->ayBias = mavlink_msg_sensor_bias_get_ayBias(msg); |
shimniok | 0:a6a169de725f | 212 | sensor_bias->azBias = mavlink_msg_sensor_bias_get_azBias(msg); |
shimniok | 0:a6a169de725f | 213 | sensor_bias->gxBias = mavlink_msg_sensor_bias_get_gxBias(msg); |
shimniok | 0:a6a169de725f | 214 | sensor_bias->gyBias = mavlink_msg_sensor_bias_get_gyBias(msg); |
shimniok | 0:a6a169de725f | 215 | sensor_bias->gzBias = mavlink_msg_sensor_bias_get_gzBias(msg); |
shimniok | 0:a6a169de725f | 216 | } |