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/ualberta/mavlink_msg_nav_filter_bias.h
- Revision:
- 0:a6a169de725f
diff -r 000000000000 -r a6a169de725f MAVlink/include/ualberta/mavlink_msg_nav_filter_bias.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/ualberta/mavlink_msg_nav_filter_bias.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,242 @@ +// MESSAGE NAV_FILTER_BIAS PACKING + +#define MAVLINK_MSG_ID_NAV_FILTER_BIAS 220 + +typedef struct __mavlink_nav_filter_bias_t +{ + uint64_t usec; ///< Timestamp (microseconds) + float accel_0; ///< b_f[0] + float accel_1; ///< b_f[1] + float accel_2; ///< b_f[2] + float gyro_0; ///< b_f[0] + float gyro_1; ///< b_f[1] + float gyro_2; ///< b_f[2] + +} mavlink_nav_filter_bias_t; + + + +/** + * @brief Pack a nav_filter_bias 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 usec Timestamp (microseconds) + * @param accel_0 b_f[0] + * @param accel_1 b_f[1] + * @param accel_2 b_f[2] + * @param gyro_0 b_f[0] + * @param gyro_1 b_f[1] + * @param gyro_2 b_f[2] + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_nav_filter_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float accel_0, float accel_1, float accel_2, float gyro_0, float gyro_1, float gyro_2) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_NAV_FILTER_BIAS; + + i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds) + i += put_float_by_index(accel_0, i, msg->payload); // b_f[0] + i += put_float_by_index(accel_1, i, msg->payload); // b_f[1] + i += put_float_by_index(accel_2, i, msg->payload); // b_f[2] + i += put_float_by_index(gyro_0, i, msg->payload); // b_f[0] + i += put_float_by_index(gyro_1, i, msg->payload); // b_f[1] + i += put_float_by_index(gyro_2, i, msg->payload); // b_f[2] + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a nav_filter_bias 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 usec Timestamp (microseconds) + * @param accel_0 b_f[0] + * @param accel_1 b_f[1] + * @param accel_2 b_f[2] + * @param gyro_0 b_f[0] + * @param gyro_1 b_f[1] + * @param gyro_2 b_f[2] + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_nav_filter_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float accel_0, float accel_1, float accel_2, float gyro_0, float gyro_1, float gyro_2) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_NAV_FILTER_BIAS; + + i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds) + i += put_float_by_index(accel_0, i, msg->payload); // b_f[0] + i += put_float_by_index(accel_1, i, msg->payload); // b_f[1] + i += put_float_by_index(accel_2, i, msg->payload); // b_f[2] + i += put_float_by_index(gyro_0, i, msg->payload); // b_f[0] + i += put_float_by_index(gyro_1, i, msg->payload); // b_f[1] + i += put_float_by_index(gyro_2, i, msg->payload); // b_f[2] + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a nav_filter_bias 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 nav_filter_bias C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_nav_filter_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_filter_bias_t* nav_filter_bias) +{ + return mavlink_msg_nav_filter_bias_pack(system_id, component_id, msg, nav_filter_bias->usec, nav_filter_bias->accel_0, nav_filter_bias->accel_1, nav_filter_bias->accel_2, nav_filter_bias->gyro_0, nav_filter_bias->gyro_1, nav_filter_bias->gyro_2); +} + +/** + * @brief Send a nav_filter_bias message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (microseconds) + * @param accel_0 b_f[0] + * @param accel_1 b_f[1] + * @param accel_2 b_f[2] + * @param gyro_0 b_f[0] + * @param gyro_1 b_f[1] + * @param gyro_2 b_f[2] + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_nav_filter_bias_send(mavlink_channel_t chan, uint64_t usec, float accel_0, float accel_1, float accel_2, float gyro_0, float gyro_1, float gyro_2) +{ + mavlink_message_t msg; + mavlink_msg_nav_filter_bias_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, accel_0, accel_1, accel_2, gyro_0, gyro_1, gyro_2); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE NAV_FILTER_BIAS UNPACKING + +/** + * @brief Get field usec from nav_filter_bias message + * + * @return Timestamp (microseconds) + */ +static inline uint64_t mavlink_msg_nav_filter_bias_get_usec(const mavlink_message_t* msg) +{ + generic_64bit r; + r.b[7] = (msg->payload)[0]; + r.b[6] = (msg->payload)[1]; + r.b[5] = (msg->payload)[2]; + r.b[4] = (msg->payload)[3]; + r.b[3] = (msg->payload)[4]; + r.b[2] = (msg->payload)[5]; + r.b[1] = (msg->payload)[6]; + r.b[0] = (msg->payload)[7]; + return (uint64_t)r.ll; +} + +/** + * @brief Get field accel_0 from nav_filter_bias message + * + * @return b_f[0] + */ +static inline float mavlink_msg_nav_filter_bias_get_accel_0(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t))[3]; + return (float)r.f; +} + +/** + * @brief Get field accel_1 from nav_filter_bias message + * + * @return b_f[1] + */ +static inline float mavlink_msg_nav_filter_bias_get_accel_1(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field accel_2 from nav_filter_bias message + * + * @return b_f[2] + */ +static inline float mavlink_msg_nav_filter_bias_get_accel_2(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field gyro_0 from nav_filter_bias message + * + * @return b_f[0] + */ +static inline float mavlink_msg_nav_filter_bias_get_gyro_0(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field gyro_1 from nav_filter_bias message + * + * @return b_f[1] + */ +static inline float mavlink_msg_nav_filter_bias_get_gyro_1(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field gyro_2 from nav_filter_bias message + * + * @return b_f[2] + */ +static inline float mavlink_msg_nav_filter_bias_get_gyro_2(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Decode a nav_filter_bias message into a struct + * + * @param msg The message to decode + * @param nav_filter_bias C-struct to decode the message contents into + */ +static inline void mavlink_msg_nav_filter_bias_decode(const mavlink_message_t* msg, mavlink_nav_filter_bias_t* nav_filter_bias) +{ + nav_filter_bias->usec = mavlink_msg_nav_filter_bias_get_usec(msg); + nav_filter_bias->accel_0 = mavlink_msg_nav_filter_bias_get_accel_0(msg); + nav_filter_bias->accel_1 = mavlink_msg_nav_filter_bias_get_accel_1(msg); + nav_filter_bias->accel_2 = mavlink_msg_nav_filter_bias_get_accel_2(msg); + nav_filter_bias->gyro_0 = mavlink_msg_nav_filter_bias_get_gyro_0(msg); + nav_filter_bias->gyro_1 = mavlink_msg_nav_filter_bias_get_gyro_1(msg); + nav_filter_bias->gyro_2 = mavlink_msg_nav_filter_bias_get_gyro_2(msg); +}