Michael Shimniok / Mbed 2 deprecated AVC_2012

Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.

Dependencies:   Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo

MAVlink/include/common/mavlink_msg_command_ack.h@0:826c6171fc1b, 2012-06-20 (annotated)

Committer:
shimniok
Date:
Wed Jun 20 14:57:48 2012 +0000
Revision:
0:826c6171fc1b
Updated documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:826c6171fc1b 1 // MESSAGE COMMAND_ACK PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_COMMAND_ACK 76
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_command_ack_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 float command; ///< Current airspeed in m/s
shimniok 0:826c6171fc1b 8 float result; ///< 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
shimniok 0:826c6171fc1b 9
shimniok 0:826c6171fc1b 10 } mavlink_command_ack_t;
shimniok 0:826c6171fc1b 11
shimniok 0:826c6171fc1b 12
shimniok 0:826c6171fc1b 13
shimniok 0:826c6171fc1b 14 /**
shimniok 0:826c6171fc1b 15 * @brief Pack a command_ack message
shimniok 0:826c6171fc1b 16 * @param system_id ID of this system
shimniok 0:826c6171fc1b 17 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 18 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 19 *
shimniok 0:826c6171fc1b 20 * @param command Current airspeed in m/s
shimniok 0:826c6171fc1b 21 * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
shimniok 0:826c6171fc1b 22 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 23 */
shimniok 0:826c6171fc1b 24 static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float command, float result)
shimniok 0:826c6171fc1b 25 {
shimniok 0:826c6171fc1b 26 uint16_t i = 0;
shimniok 0:826c6171fc1b 27 msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
shimniok 0:826c6171fc1b 28
shimniok 0:826c6171fc1b 29 i += put_float_by_index(command, i, msg->payload); // Current airspeed in m/s
shimniok 0:826c6171fc1b 30 i += put_float_by_index(result, i, msg->payload); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
shimniok 0:826c6171fc1b 31
shimniok 0:826c6171fc1b 32 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 33 }
shimniok 0:826c6171fc1b 34
shimniok 0:826c6171fc1b 35 /**
shimniok 0:826c6171fc1b 36 * @brief Pack a command_ack message
shimniok 0:826c6171fc1b 37 * @param system_id ID of this system
shimniok 0:826c6171fc1b 38 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 39 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 40 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 41 * @param command Current airspeed in m/s
shimniok 0:826c6171fc1b 42 * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
shimniok 0:826c6171fc1b 43 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 44 */
shimniok 0:826c6171fc1b 45 static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float command, float result)
shimniok 0:826c6171fc1b 46 {
shimniok 0:826c6171fc1b 47 uint16_t i = 0;
shimniok 0:826c6171fc1b 48 msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
shimniok 0:826c6171fc1b 49
shimniok 0:826c6171fc1b 50 i += put_float_by_index(command, i, msg->payload); // Current airspeed in m/s
shimniok 0:826c6171fc1b 51 i += put_float_by_index(result, i, msg->payload); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
shimniok 0:826c6171fc1b 52
shimniok 0:826c6171fc1b 53 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 54 }
shimniok 0:826c6171fc1b 55
shimniok 0:826c6171fc1b 56 /**
shimniok 0:826c6171fc1b 57 * @brief Encode a command_ack struct into a message
shimniok 0:826c6171fc1b 58 *
shimniok 0:826c6171fc1b 59 * @param system_id ID of this system
shimniok 0:826c6171fc1b 60 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 61 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 62 * @param command_ack C-struct to read the message contents from
shimniok 0:826c6171fc1b 63 */
shimniok 0:826c6171fc1b 64 static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
shimniok 0:826c6171fc1b 65 {
shimniok 0:826c6171fc1b 66 return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result);
shimniok 0:826c6171fc1b 67 }
shimniok 0:826c6171fc1b 68
shimniok 0:826c6171fc1b 69 /**
shimniok 0:826c6171fc1b 70 * @brief Send a command_ack message
shimniok 0:826c6171fc1b 71 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 72 *
shimniok 0:826c6171fc1b 73 * @param command Current airspeed in m/s
shimniok 0:826c6171fc1b 74 * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
shimniok 0:826c6171fc1b 75 */
shimniok 0:826c6171fc1b 76 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 77
shimniok 0:826c6171fc1b 78 static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float command, float result)
shimniok 0:826c6171fc1b 79 {
shimniok 0:826c6171fc1b 80 mavlink_message_t msg;
shimniok 0:826c6171fc1b 81 mavlink_msg_command_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, command, result);
shimniok 0:826c6171fc1b 82 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 83 }
shimniok 0:826c6171fc1b 84
shimniok 0:826c6171fc1b 85 #endif
shimniok 0:826c6171fc1b 86 // MESSAGE COMMAND_ACK UNPACKING
shimniok 0:826c6171fc1b 87
shimniok 0:826c6171fc1b 88 /**
shimniok 0:826c6171fc1b 89 * @brief Get field command from command_ack message
shimniok 0:826c6171fc1b 90 *
shimniok 0:826c6171fc1b 91 * @return Current airspeed in m/s
shimniok 0:826c6171fc1b 92 */
shimniok 0:826c6171fc1b 93 static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 94 {
shimniok 0:826c6171fc1b 95 generic_32bit r;
shimniok 0:826c6171fc1b 96 r.b[3] = (msg->payload)[0];
shimniok 0:826c6171fc1b 97 r.b[2] = (msg->payload)[1];
shimniok 0:826c6171fc1b 98 r.b[1] = (msg->payload)[2];
shimniok 0:826c6171fc1b 99 r.b[0] = (msg->payload)[3];
shimniok 0:826c6171fc1b 100 return (float)r.f;
shimniok 0:826c6171fc1b 101 }
shimniok 0:826c6171fc1b 102
shimniok 0:826c6171fc1b 103 /**
shimniok 0:826c6171fc1b 104 * @brief Get field result from command_ack message
shimniok 0:826c6171fc1b 105 *
shimniok 0:826c6171fc1b 106 * @return 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
shimniok 0:826c6171fc1b 107 */
shimniok 0:826c6171fc1b 108 static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 109 {
shimniok 0:826c6171fc1b 110 generic_32bit r;
shimniok 0:826c6171fc1b 111 r.b[3] = (msg->payload+sizeof(float))[0];
shimniok 0:826c6171fc1b 112 r.b[2] = (msg->payload+sizeof(float))[1];
shimniok 0:826c6171fc1b 113 r.b[1] = (msg->payload+sizeof(float))[2];
shimniok 0:826c6171fc1b 114 r.b[0] = (msg->payload+sizeof(float))[3];
shimniok 0:826c6171fc1b 115 return (float)r.f;
shimniok 0:826c6171fc1b 116 }
shimniok 0:826c6171fc1b 117
shimniok 0:826c6171fc1b 118 /**
shimniok 0:826c6171fc1b 119 * @brief Decode a command_ack message into a struct
shimniok 0:826c6171fc1b 120 *
shimniok 0:826c6171fc1b 121 * @param msg The message to decode
shimniok 0:826c6171fc1b 122 * @param command_ack C-struct to decode the message contents into
shimniok 0:826c6171fc1b 123 */
shimniok 0:826c6171fc1b 124 static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
shimniok 0:826c6171fc1b 125 {
shimniok 0:826c6171fc1b 126 command_ack->command = mavlink_msg_command_ack_get_command(msg);
shimniok 0:826c6171fc1b 127 command_ack->result = mavlink_msg_command_ack_get_result(msg);
shimniok 0:826c6171fc1b 128 }