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/slugs/mavlink_msg_air_data.h
- Revision:
- 0:a6a169de725f
diff -r 000000000000 -r a6a169de725f MAVlink/include/slugs/mavlink_msg_air_data.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/slugs/mavlink_msg_air_data.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,148 @@ +// MESSAGE AIR_DATA PACKING + +#define MAVLINK_MSG_ID_AIR_DATA 171 + +typedef struct __mavlink_air_data_t +{ + float dynamicPressure; ///< Dynamic pressure (Pa) + float staticPressure; ///< Static pressure (Pa) + uint16_t temperature; ///< Board temperature + +} mavlink_air_data_t; + + + +/** + * @brief Pack a air_data 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 dynamicPressure Dynamic pressure (Pa) + * @param staticPressure Static pressure (Pa) + * @param temperature Board temperature + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_air_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float dynamicPressure, float staticPressure, uint16_t temperature) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_AIR_DATA; + + i += put_float_by_index(dynamicPressure, i, msg->payload); // Dynamic pressure (Pa) + i += put_float_by_index(staticPressure, i, msg->payload); // Static pressure (Pa) + i += put_uint16_t_by_index(temperature, i, msg->payload); // Board temperature + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a air_data 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 dynamicPressure Dynamic pressure (Pa) + * @param staticPressure Static pressure (Pa) + * @param temperature Board temperature + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_air_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float dynamicPressure, float staticPressure, uint16_t temperature) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_AIR_DATA; + + i += put_float_by_index(dynamicPressure, i, msg->payload); // Dynamic pressure (Pa) + i += put_float_by_index(staticPressure, i, msg->payload); // Static pressure (Pa) + i += put_uint16_t_by_index(temperature, i, msg->payload); // Board temperature + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a air_data 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 air_data C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_air_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_air_data_t* air_data) +{ + return mavlink_msg_air_data_pack(system_id, component_id, msg, air_data->dynamicPressure, air_data->staticPressure, air_data->temperature); +} + +/** + * @brief Send a air_data message + * @param chan MAVLink channel to send the message + * + * @param dynamicPressure Dynamic pressure (Pa) + * @param staticPressure Static pressure (Pa) + * @param temperature Board temperature + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_air_data_send(mavlink_channel_t chan, float dynamicPressure, float staticPressure, uint16_t temperature) +{ + mavlink_message_t msg; + mavlink_msg_air_data_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, dynamicPressure, staticPressure, temperature); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE AIR_DATA UNPACKING + +/** + * @brief Get field dynamicPressure from air_data message + * + * @return Dynamic pressure (Pa) + */ +static inline float mavlink_msg_air_data_get_dynamicPressure(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 staticPressure from air_data message + * + * @return Static pressure (Pa) + */ +static inline float mavlink_msg_air_data_get_staticPressure(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 temperature from air_data message + * + * @return Board temperature + */ +static inline uint16_t mavlink_msg_air_data_get_temperature(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[0]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Decode a air_data message into a struct + * + * @param msg The message to decode + * @param air_data C-struct to decode the message contents into + */ +static inline void mavlink_msg_air_data_decode(const mavlink_message_t* msg, mavlink_air_data_t* air_data) +{ + air_data->dynamicPressure = mavlink_msg_air_data_get_dynamicPressure(msg); + air_data->staticPressure = mavlink_msg_air_data_get_staticPressure(msg); + air_data->temperature = mavlink_msg_air_data_get_temperature(msg); +}