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/ualberta/mavlink_msg_radio_calibration.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 RADIO_CALIBRATION PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_RADIO_CALIBRATION 221 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_radio_calibration_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | uint16_t aileron[3]; ///< Aileron setpoints: left, center, right |
shimniok | 0:a6a169de725f | 8 | uint16_t elevator[3]; ///< Elevator setpoints: nose down, center, nose up |
shimniok | 0:a6a169de725f | 9 | uint16_t rudder[3]; ///< Rudder setpoints: nose left, center, nose right |
shimniok | 0:a6a169de725f | 10 | uint16_t gyro[2]; ///< Tail gyro mode/gain setpoints: heading hold, rate mode |
shimniok | 0:a6a169de725f | 11 | uint16_t pitch[5]; ///< Pitch curve setpoints (every 25%) |
shimniok | 0:a6a169de725f | 12 | uint16_t throttle[5]; ///< Throttle curve setpoints (every 25%) |
shimniok | 0:a6a169de725f | 13 | |
shimniok | 0:a6a169de725f | 14 | } mavlink_radio_calibration_t; |
shimniok | 0:a6a169de725f | 15 | |
shimniok | 0:a6a169de725f | 16 | #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_AILERON_LEN 3 |
shimniok | 0:a6a169de725f | 17 | #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_ELEVATOR_LEN 3 |
shimniok | 0:a6a169de725f | 18 | #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_RUDDER_LEN 3 |
shimniok | 0:a6a169de725f | 19 | #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_GYRO_LEN 2 |
shimniok | 0:a6a169de725f | 20 | #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_PITCH_LEN 5 |
shimniok | 0:a6a169de725f | 21 | #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_THROTTLE_LEN 5 |
shimniok | 0:a6a169de725f | 22 | |
shimniok | 0:a6a169de725f | 23 | |
shimniok | 0:a6a169de725f | 24 | /** |
shimniok | 0:a6a169de725f | 25 | * @brief Pack a radio_calibration message |
shimniok | 0:a6a169de725f | 26 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 27 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 28 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 29 | * |
shimniok | 0:a6a169de725f | 30 | * @param aileron Aileron setpoints: left, center, right |
shimniok | 0:a6a169de725f | 31 | * @param elevator Elevator setpoints: nose down, center, nose up |
shimniok | 0:a6a169de725f | 32 | * @param rudder Rudder setpoints: nose left, center, nose right |
shimniok | 0:a6a169de725f | 33 | * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode |
shimniok | 0:a6a169de725f | 34 | * @param pitch Pitch curve setpoints (every 25%) |
shimniok | 0:a6a169de725f | 35 | * @param throttle Throttle curve setpoints (every 25%) |
shimniok | 0:a6a169de725f | 36 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 37 | */ |
shimniok | 0:a6a169de725f | 38 | static inline uint16_t mavlink_msg_radio_calibration_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle) |
shimniok | 0:a6a169de725f | 39 | { |
shimniok | 0:a6a169de725f | 40 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 41 | msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION; |
shimniok | 0:a6a169de725f | 42 | |
shimniok | 0:a6a169de725f | 43 | i += put_array_by_index((const int8_t*)aileron, sizeof(uint16_t)*3, i, msg->payload); // Aileron setpoints: left, center, right |
shimniok | 0:a6a169de725f | 44 | i += put_array_by_index((const int8_t*)elevator, sizeof(uint16_t)*3, i, msg->payload); // Elevator setpoints: nose down, center, nose up |
shimniok | 0:a6a169de725f | 45 | i += put_array_by_index((const int8_t*)rudder, sizeof(uint16_t)*3, i, msg->payload); // Rudder setpoints: nose left, center, nose right |
shimniok | 0:a6a169de725f | 46 | i += put_array_by_index((const int8_t*)gyro, sizeof(uint16_t)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode |
shimniok | 0:a6a169de725f | 47 | i += put_array_by_index((const int8_t*)pitch, sizeof(uint16_t)*5, i, msg->payload); // Pitch curve setpoints (every 25%) |
shimniok | 0:a6a169de725f | 48 | i += put_array_by_index((const int8_t*)throttle, sizeof(uint16_t)*5, i, msg->payload); // Throttle curve setpoints (every 25%) |
shimniok | 0:a6a169de725f | 49 | |
shimniok | 0:a6a169de725f | 50 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 51 | } |
shimniok | 0:a6a169de725f | 52 | |
shimniok | 0:a6a169de725f | 53 | /** |
shimniok | 0:a6a169de725f | 54 | * @brief Pack a radio_calibration message |
shimniok | 0:a6a169de725f | 55 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 56 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 57 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 58 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 59 | * @param aileron Aileron setpoints: left, center, right |
shimniok | 0:a6a169de725f | 60 | * @param elevator Elevator setpoints: nose down, center, nose up |
shimniok | 0:a6a169de725f | 61 | * @param rudder Rudder setpoints: nose left, center, nose right |
shimniok | 0:a6a169de725f | 62 | * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode |
shimniok | 0:a6a169de725f | 63 | * @param pitch Pitch curve setpoints (every 25%) |
shimniok | 0:a6a169de725f | 64 | * @param throttle Throttle curve setpoints (every 25%) |
shimniok | 0:a6a169de725f | 65 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 66 | */ |
shimniok | 0:a6a169de725f | 67 | static inline uint16_t mavlink_msg_radio_calibration_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle) |
shimniok | 0:a6a169de725f | 68 | { |
shimniok | 0:a6a169de725f | 69 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 70 | msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION; |
shimniok | 0:a6a169de725f | 71 | |
shimniok | 0:a6a169de725f | 72 | i += put_array_by_index((const int8_t*)aileron, sizeof(uint16_t)*3, i, msg->payload); // Aileron setpoints: left, center, right |
shimniok | 0:a6a169de725f | 73 | i += put_array_by_index((const int8_t*)elevator, sizeof(uint16_t)*3, i, msg->payload); // Elevator setpoints: nose down, center, nose up |
shimniok | 0:a6a169de725f | 74 | i += put_array_by_index((const int8_t*)rudder, sizeof(uint16_t)*3, i, msg->payload); // Rudder setpoints: nose left, center, nose right |
shimniok | 0:a6a169de725f | 75 | i += put_array_by_index((const int8_t*)gyro, sizeof(uint16_t)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode |
shimniok | 0:a6a169de725f | 76 | i += put_array_by_index((const int8_t*)pitch, sizeof(uint16_t)*5, i, msg->payload); // Pitch curve setpoints (every 25%) |
shimniok | 0:a6a169de725f | 77 | i += put_array_by_index((const int8_t*)throttle, sizeof(uint16_t)*5, i, msg->payload); // Throttle curve setpoints (every 25%) |
shimniok | 0:a6a169de725f | 78 | |
shimniok | 0:a6a169de725f | 79 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:a6a169de725f | 80 | } |
shimniok | 0:a6a169de725f | 81 | |
shimniok | 0:a6a169de725f | 82 | /** |
shimniok | 0:a6a169de725f | 83 | * @brief Encode a radio_calibration struct into a message |
shimniok | 0:a6a169de725f | 84 | * |
shimniok | 0:a6a169de725f | 85 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 86 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 87 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 88 | * @param radio_calibration C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 89 | */ |
shimniok | 0:a6a169de725f | 90 | static inline uint16_t mavlink_msg_radio_calibration_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_radio_calibration_t* radio_calibration) |
shimniok | 0:a6a169de725f | 91 | { |
shimniok | 0:a6a169de725f | 92 | return mavlink_msg_radio_calibration_pack(system_id, component_id, msg, radio_calibration->aileron, radio_calibration->elevator, radio_calibration->rudder, radio_calibration->gyro, radio_calibration->pitch, radio_calibration->throttle); |
shimniok | 0:a6a169de725f | 93 | } |
shimniok | 0:a6a169de725f | 94 | |
shimniok | 0:a6a169de725f | 95 | /** |
shimniok | 0:a6a169de725f | 96 | * @brief Send a radio_calibration message |
shimniok | 0:a6a169de725f | 97 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 98 | * |
shimniok | 0:a6a169de725f | 99 | * @param aileron Aileron setpoints: left, center, right |
shimniok | 0:a6a169de725f | 100 | * @param elevator Elevator setpoints: nose down, center, nose up |
shimniok | 0:a6a169de725f | 101 | * @param rudder Rudder setpoints: nose left, center, nose right |
shimniok | 0:a6a169de725f | 102 | * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode |
shimniok | 0:a6a169de725f | 103 | * @param pitch Pitch curve setpoints (every 25%) |
shimniok | 0:a6a169de725f | 104 | * @param throttle Throttle curve setpoints (every 25%) |
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_radio_calibration_send(mavlink_channel_t chan, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle) |
shimniok | 0:a6a169de725f | 109 | { |
shimniok | 0:a6a169de725f | 110 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 111 | mavlink_msg_radio_calibration_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, aileron, elevator, rudder, gyro, pitch, throttle); |
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 RADIO_CALIBRATION UNPACKING |
shimniok | 0:a6a169de725f | 117 | |
shimniok | 0:a6a169de725f | 118 | /** |
shimniok | 0:a6a169de725f | 119 | * @brief Get field aileron from radio_calibration message |
shimniok | 0:a6a169de725f | 120 | * |
shimniok | 0:a6a169de725f | 121 | * @return Aileron setpoints: left, center, right |
shimniok | 0:a6a169de725f | 122 | */ |
shimniok | 0:a6a169de725f | 123 | static inline uint16_t mavlink_msg_radio_calibration_get_aileron(const mavlink_message_t* msg, uint16_t* r_data) |
shimniok | 0:a6a169de725f | 124 | { |
shimniok | 0:a6a169de725f | 125 | |
shimniok | 0:a6a169de725f | 126 | memcpy(r_data, msg->payload, sizeof(uint16_t)*3); |
shimniok | 0:a6a169de725f | 127 | return sizeof(uint16_t)*3; |
shimniok | 0:a6a169de725f | 128 | } |
shimniok | 0:a6a169de725f | 129 | |
shimniok | 0:a6a169de725f | 130 | /** |
shimniok | 0:a6a169de725f | 131 | * @brief Get field elevator from radio_calibration message |
shimniok | 0:a6a169de725f | 132 | * |
shimniok | 0:a6a169de725f | 133 | * @return Elevator setpoints: nose down, center, nose up |
shimniok | 0:a6a169de725f | 134 | */ |
shimniok | 0:a6a169de725f | 135 | static inline uint16_t mavlink_msg_radio_calibration_get_elevator(const mavlink_message_t* msg, uint16_t* r_data) |
shimniok | 0:a6a169de725f | 136 | { |
shimniok | 0:a6a169de725f | 137 | |
shimniok | 0:a6a169de725f | 138 | memcpy(r_data, msg->payload+sizeof(uint16_t)*3, sizeof(uint16_t)*3); |
shimniok | 0:a6a169de725f | 139 | return sizeof(uint16_t)*3; |
shimniok | 0:a6a169de725f | 140 | } |
shimniok | 0:a6a169de725f | 141 | |
shimniok | 0:a6a169de725f | 142 | /** |
shimniok | 0:a6a169de725f | 143 | * @brief Get field rudder from radio_calibration message |
shimniok | 0:a6a169de725f | 144 | * |
shimniok | 0:a6a169de725f | 145 | * @return Rudder setpoints: nose left, center, nose right |
shimniok | 0:a6a169de725f | 146 | */ |
shimniok | 0:a6a169de725f | 147 | static inline uint16_t mavlink_msg_radio_calibration_get_rudder(const mavlink_message_t* msg, uint16_t* r_data) |
shimniok | 0:a6a169de725f | 148 | { |
shimniok | 0:a6a169de725f | 149 | |
shimniok | 0:a6a169de725f | 150 | memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3, sizeof(uint16_t)*3); |
shimniok | 0:a6a169de725f | 151 | return sizeof(uint16_t)*3; |
shimniok | 0:a6a169de725f | 152 | } |
shimniok | 0:a6a169de725f | 153 | |
shimniok | 0:a6a169de725f | 154 | /** |
shimniok | 0:a6a169de725f | 155 | * @brief Get field gyro from radio_calibration message |
shimniok | 0:a6a169de725f | 156 | * |
shimniok | 0:a6a169de725f | 157 | * @return Tail gyro mode/gain setpoints: heading hold, rate mode |
shimniok | 0:a6a169de725f | 158 | */ |
shimniok | 0:a6a169de725f | 159 | static inline uint16_t mavlink_msg_radio_calibration_get_gyro(const mavlink_message_t* msg, uint16_t* r_data) |
shimniok | 0:a6a169de725f | 160 | { |
shimniok | 0:a6a169de725f | 161 | |
shimniok | 0:a6a169de725f | 162 | memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3, sizeof(uint16_t)*2); |
shimniok | 0:a6a169de725f | 163 | return sizeof(uint16_t)*2; |
shimniok | 0:a6a169de725f | 164 | } |
shimniok | 0:a6a169de725f | 165 | |
shimniok | 0:a6a169de725f | 166 | /** |
shimniok | 0:a6a169de725f | 167 | * @brief Get field pitch from radio_calibration message |
shimniok | 0:a6a169de725f | 168 | * |
shimniok | 0:a6a169de725f | 169 | * @return Pitch curve setpoints (every 25%) |
shimniok | 0:a6a169de725f | 170 | */ |
shimniok | 0:a6a169de725f | 171 | static inline uint16_t mavlink_msg_radio_calibration_get_pitch(const mavlink_message_t* msg, uint16_t* r_data) |
shimniok | 0:a6a169de725f | 172 | { |
shimniok | 0:a6a169de725f | 173 | |
shimniok | 0:a6a169de725f | 174 | memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*2, sizeof(uint16_t)*5); |
shimniok | 0:a6a169de725f | 175 | return sizeof(uint16_t)*5; |
shimniok | 0:a6a169de725f | 176 | } |
shimniok | 0:a6a169de725f | 177 | |
shimniok | 0:a6a169de725f | 178 | /** |
shimniok | 0:a6a169de725f | 179 | * @brief Get field throttle from radio_calibration message |
shimniok | 0:a6a169de725f | 180 | * |
shimniok | 0:a6a169de725f | 181 | * @return Throttle curve setpoints (every 25%) |
shimniok | 0:a6a169de725f | 182 | */ |
shimniok | 0:a6a169de725f | 183 | static inline uint16_t mavlink_msg_radio_calibration_get_throttle(const mavlink_message_t* msg, uint16_t* r_data) |
shimniok | 0:a6a169de725f | 184 | { |
shimniok | 0:a6a169de725f | 185 | |
shimniok | 0:a6a169de725f | 186 | memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*2+sizeof(uint16_t)*5, sizeof(uint16_t)*5); |
shimniok | 0:a6a169de725f | 187 | return sizeof(uint16_t)*5; |
shimniok | 0:a6a169de725f | 188 | } |
shimniok | 0:a6a169de725f | 189 | |
shimniok | 0:a6a169de725f | 190 | /** |
shimniok | 0:a6a169de725f | 191 | * @brief Decode a radio_calibration message into a struct |
shimniok | 0:a6a169de725f | 192 | * |
shimniok | 0:a6a169de725f | 193 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 194 | * @param radio_calibration C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 195 | */ |
shimniok | 0:a6a169de725f | 196 | static inline void mavlink_msg_radio_calibration_decode(const mavlink_message_t* msg, mavlink_radio_calibration_t* radio_calibration) |
shimniok | 0:a6a169de725f | 197 | { |
shimniok | 0:a6a169de725f | 198 | mavlink_msg_radio_calibration_get_aileron(msg, radio_calibration->aileron); |
shimniok | 0:a6a169de725f | 199 | mavlink_msg_radio_calibration_get_elevator(msg, radio_calibration->elevator); |
shimniok | 0:a6a169de725f | 200 | mavlink_msg_radio_calibration_get_rudder(msg, radio_calibration->rudder); |
shimniok | 0:a6a169de725f | 201 | mavlink_msg_radio_calibration_get_gyro(msg, radio_calibration->gyro); |
shimniok | 0:a6a169de725f | 202 | mavlink_msg_radio_calibration_get_pitch(msg, radio_calibration->pitch); |
shimniok | 0:a6a169de725f | 203 | mavlink_msg_radio_calibration_get_throttle(msg, radio_calibration->throttle); |
shimniok | 0:a6a169de725f | 204 | } |