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
Diff: MAVlink/include/common/mavlink_msg_gps_status.h
- Revision:
- 0:a6a169de725f
diff -r 000000000000 -r a6a169de725f MAVlink/include/common/mavlink_msg_gps_status.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_gps_status.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,201 @@ +// MESSAGE GPS_STATUS PACKING + +#define MAVLINK_MSG_ID_GPS_STATUS 27 + +typedef struct __mavlink_gps_status_t +{ + uint8_t satellites_visible; ///< Number of satellites visible + int8_t satellite_prn[20]; ///< Global satellite ID + int8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization + int8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite + int8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg. + int8_t satellite_snr[20]; ///< Signal to noise ratio of satellite + +} mavlink_gps_status_t; + +#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20 +#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20 +#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20 +#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20 +#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20 + + +/** + * @brief Pack a gps_status message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param satellites_visible Number of satellites visible + * @param satellite_prn Global satellite ID + * @param satellite_used 0: Satellite not used, 1: used for localization + * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite + * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg. + * @param satellite_snr Signal to noise ratio of satellite + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t satellites_visible, const int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_GPS_STATUS; + + i += put_uint8_t_by_index(satellites_visible, i, msg->payload); // Number of satellites visible + i += put_array_by_index(satellite_prn, 20, i, msg->payload); // Global satellite ID + i += put_array_by_index(satellite_used, 20, i, msg->payload); // 0: Satellite not used, 1: used for localization + i += put_array_by_index(satellite_elevation, 20, i, msg->payload); // Elevation (0: right on top of receiver, 90: on the horizon) of satellite + i += put_array_by_index(satellite_azimuth, 20, i, msg->payload); // Direction of satellite, 0: 0 deg, 255: 360 deg. + i += put_array_by_index(satellite_snr, 20, i, msg->payload); // Signal to noise ratio of satellite + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a gps_status message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param satellites_visible Number of satellites visible + * @param satellite_prn Global satellite ID + * @param satellite_used 0: Satellite not used, 1: used for localization + * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite + * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg. + * @param satellite_snr Signal to noise ratio of satellite + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t satellites_visible, const int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_GPS_STATUS; + + i += put_uint8_t_by_index(satellites_visible, i, msg->payload); // Number of satellites visible + i += put_array_by_index(satellite_prn, 20, i, msg->payload); // Global satellite ID + i += put_array_by_index(satellite_used, 20, i, msg->payload); // 0: Satellite not used, 1: used for localization + i += put_array_by_index(satellite_elevation, 20, i, msg->payload); // Elevation (0: right on top of receiver, 90: on the horizon) of satellite + i += put_array_by_index(satellite_azimuth, 20, i, msg->payload); // Direction of satellite, 0: 0 deg, 255: 360 deg. + i += put_array_by_index(satellite_snr, 20, i, msg->payload); // Signal to noise ratio of satellite + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a gps_status struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param gps_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status) +{ + return mavlink_msg_gps_status_pack(system_id, component_id, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr); +} + +/** + * @brief Send a gps_status message + * @param chan MAVLink channel to send the message + * + * @param satellites_visible Number of satellites visible + * @param satellite_prn Global satellite ID + * @param satellite_used 0: Satellite not used, 1: used for localization + * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite + * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg. + * @param satellite_snr Signal to noise ratio of satellite + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr) +{ + mavlink_message_t msg; + mavlink_msg_gps_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE GPS_STATUS UNPACKING + +/** + * @brief Get field satellites_visible from gps_status message + * + * @return Number of satellites visible + */ +static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload)[0]; +} + +/** + * @brief Get field satellite_prn from gps_status message + * + * @return Global satellite ID + */ +static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, int8_t* r_data) +{ + + memcpy(r_data, msg->payload+sizeof(uint8_t), 20); + return 20; +} + +/** + * @brief Get field satellite_used from gps_status message + * + * @return 0: Satellite not used, 1: used for localization + */ +static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, int8_t* r_data) +{ + + memcpy(r_data, msg->payload+sizeof(uint8_t)+20, 20); + return 20; +} + +/** + * @brief Get field satellite_elevation from gps_status message + * + * @return Elevation (0: right on top of receiver, 90: on the horizon) of satellite + */ +static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, int8_t* r_data) +{ + + memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20, 20); + return 20; +} + +/** + * @brief Get field satellite_azimuth from gps_status message + * + * @return Direction of satellite, 0: 0 deg, 255: 360 deg. + */ +static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, int8_t* r_data) +{ + + memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20+20, 20); + return 20; +} + +/** + * @brief Get field satellite_snr from gps_status message + * + * @return Signal to noise ratio of satellite + */ +static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, int8_t* r_data) +{ + + memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20+20+20, 20); + return 20; +} + +/** + * @brief Decode a gps_status message into a struct + * + * @param msg The message to decode + * @param gps_status C-struct to decode the message contents into + */ +static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status) +{ + gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg); + mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn); + mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used); + mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation); + mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth); + mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr); +}