![](/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
Diff: MAVlink/include/pixhawk/mavlink_msg_brief_feature.h
- Revision:
- 0:a6a169de725f
diff -r 000000000000 -r a6a169de725f MAVlink/include/pixhawk/mavlink_msg_brief_feature.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/pixhawk/mavlink_msg_brief_feature.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,249 @@ +// MESSAGE BRIEF_FEATURE PACKING + +#define MAVLINK_MSG_ID_BRIEF_FEATURE 172 + +typedef struct __mavlink_brief_feature_t +{ + float x; ///< x position in m + float y; ///< y position in m + float z; ///< z position in m + uint8_t orientation_assignment; ///< Orientation assignment 0: false, 1:true + uint16_t size; ///< Size in pixels + uint16_t orientation; ///< Orientation + uint8_t descriptor[32]; ///< Descriptor + float response; ///< Harris operator response at this location + +} mavlink_brief_feature_t; + +#define MAVLINK_MSG_BRIEF_FEATURE_FIELD_DESCRIPTOR_LEN 32 + + +/** + * @brief Pack a brief_feature 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 x x position in m + * @param y y position in m + * @param z z position in m + * @param orientation_assignment Orientation assignment 0: false, 1:true + * @param size Size in pixels + * @param orientation Orientation + * @param descriptor Descriptor + * @param response Harris operator response at this location + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_brief_feature_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE; + + i += put_float_by_index(x, i, msg->payload); // x position in m + i += put_float_by_index(y, i, msg->payload); // y position in m + i += put_float_by_index(z, i, msg->payload); // z position in m + i += put_uint8_t_by_index(orientation_assignment, i, msg->payload); // Orientation assignment 0: false, 1:true + i += put_uint16_t_by_index(size, i, msg->payload); // Size in pixels + i += put_uint16_t_by_index(orientation, i, msg->payload); // Orientation + i += put_array_by_index((const int8_t*)descriptor, sizeof(uint8_t)*32, i, msg->payload); // Descriptor + i += put_float_by_index(response, i, msg->payload); // Harris operator response at this location + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a brief_feature 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 x x position in m + * @param y y position in m + * @param z z position in m + * @param orientation_assignment Orientation assignment 0: false, 1:true + * @param size Size in pixels + * @param orientation Orientation + * @param descriptor Descriptor + * @param response Harris operator response at this location + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_brief_feature_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE; + + i += put_float_by_index(x, i, msg->payload); // x position in m + i += put_float_by_index(y, i, msg->payload); // y position in m + i += put_float_by_index(z, i, msg->payload); // z position in m + i += put_uint8_t_by_index(orientation_assignment, i, msg->payload); // Orientation assignment 0: false, 1:true + i += put_uint16_t_by_index(size, i, msg->payload); // Size in pixels + i += put_uint16_t_by_index(orientation, i, msg->payload); // Orientation + i += put_array_by_index((const int8_t*)descriptor, sizeof(uint8_t)*32, i, msg->payload); // Descriptor + i += put_float_by_index(response, i, msg->payload); // Harris operator response at this location + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a brief_feature 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 brief_feature C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_brief_feature_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_brief_feature_t* brief_feature) +{ + return mavlink_msg_brief_feature_pack(system_id, component_id, msg, brief_feature->x, brief_feature->y, brief_feature->z, brief_feature->orientation_assignment, brief_feature->size, brief_feature->orientation, brief_feature->descriptor, brief_feature->response); +} + +/** + * @brief Send a brief_feature message + * @param chan MAVLink channel to send the message + * + * @param x x position in m + * @param y y position in m + * @param z z position in m + * @param orientation_assignment Orientation assignment 0: false, 1:true + * @param size Size in pixels + * @param orientation Orientation + * @param descriptor Descriptor + * @param response Harris operator response at this location + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_brief_feature_send(mavlink_channel_t chan, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response) +{ + mavlink_message_t msg; + mavlink_msg_brief_feature_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, x, y, z, orientation_assignment, size, orientation, descriptor, response); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE BRIEF_FEATURE UNPACKING + +/** + * @brief Get field x from brief_feature message + * + * @return x position in m + */ +static inline float mavlink_msg_brief_feature_get_x(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload)[0]; + r.b[2] = (msg->payload)[1]; + r.b[1] = (msg->payload)[2]; + r.b[0] = (msg->payload)[3]; + return (float)r.f; +} + +/** + * @brief Get field y from brief_feature message + * + * @return y position in m + */ +static inline float mavlink_msg_brief_feature_get_y(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field z from brief_feature message + * + * @return z position in m + */ +static inline float mavlink_msg_brief_feature_get_z(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field orientation_assignment from brief_feature message + * + * @return Orientation assignment 0: false, 1:true + */ +static inline uint8_t mavlink_msg_brief_feature_get_orientation_assignment(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0]; +} + +/** + * @brief Get field size from brief_feature message + * + * @return Size in pixels + */ +static inline uint16_t mavlink_msg_brief_feature_get_size(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Get field orientation from brief_feature message + * + * @return Orientation + */ +static inline uint16_t mavlink_msg_brief_feature_get_orientation(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t))[0]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Get field descriptor from brief_feature message + * + * @return Descriptor + */ +static inline uint16_t mavlink_msg_brief_feature_get_descriptor(const mavlink_message_t* msg, uint8_t* r_data) +{ + + memcpy(r_data, msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t), sizeof(uint8_t)*32); + return sizeof(uint8_t)*32; +} + +/** + * @brief Get field response from brief_feature message + * + * @return Harris operator response at this location + */ +static inline float mavlink_msg_brief_feature_get_response(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[0]; + r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[1]; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[2]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[3]; + return (float)r.f; +} + +/** + * @brief Decode a brief_feature message into a struct + * + * @param msg The message to decode + * @param brief_feature C-struct to decode the message contents into + */ +static inline void mavlink_msg_brief_feature_decode(const mavlink_message_t* msg, mavlink_brief_feature_t* brief_feature) +{ + brief_feature->x = mavlink_msg_brief_feature_get_x(msg); + brief_feature->y = mavlink_msg_brief_feature_get_y(msg); + brief_feature->z = mavlink_msg_brief_feature_get_z(msg); + brief_feature->orientation_assignment = mavlink_msg_brief_feature_get_orientation_assignment(msg); + brief_feature->size = mavlink_msg_brief_feature_get_size(msg); + brief_feature->orientation = mavlink_msg_brief_feature_get_orientation(msg); + mavlink_msg_brief_feature_get_descriptor(msg, brief_feature->descriptor); + brief_feature->response = mavlink_msg_brief_feature_get_response(msg); +}