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_gps_status.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 GPS_STATUS PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_GPS_STATUS 27
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_gps_status_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint8_t satellites_visible; ///< Number of satellites visible
shimniok 0:826c6171fc1b 8 int8_t satellite_prn[20]; ///< Global satellite ID
shimniok 0:826c6171fc1b 9 int8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization
shimniok 0:826c6171fc1b 10 int8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite
shimniok 0:826c6171fc1b 11 int8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg.
shimniok 0:826c6171fc1b 12 int8_t satellite_snr[20]; ///< Signal to noise ratio of satellite
shimniok 0:826c6171fc1b 13
shimniok 0:826c6171fc1b 14 } mavlink_gps_status_t;
shimniok 0:826c6171fc1b 15
shimniok 0:826c6171fc1b 16 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20
shimniok 0:826c6171fc1b 17 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20
shimniok 0:826c6171fc1b 18 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20
shimniok 0:826c6171fc1b 19 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20
shimniok 0:826c6171fc1b 20 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20
shimniok 0:826c6171fc1b 21
shimniok 0:826c6171fc1b 22
shimniok 0:826c6171fc1b 23 /**
shimniok 0:826c6171fc1b 24 * @brief Pack a gps_status message
shimniok 0:826c6171fc1b 25 * @param system_id ID of this system
shimniok 0:826c6171fc1b 26 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 27 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 28 *
shimniok 0:826c6171fc1b 29 * @param satellites_visible Number of satellites visible
shimniok 0:826c6171fc1b 30 * @param satellite_prn Global satellite ID
shimniok 0:826c6171fc1b 31 * @param satellite_used 0: Satellite not used, 1: used for localization
shimniok 0:826c6171fc1b 32 * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
shimniok 0:826c6171fc1b 33 * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
shimniok 0:826c6171fc1b 34 * @param satellite_snr Signal to noise ratio of satellite
shimniok 0:826c6171fc1b 35 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 36 */
shimniok 0:826c6171fc1b 37 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)
shimniok 0:826c6171fc1b 38 {
shimniok 0:826c6171fc1b 39 uint16_t i = 0;
shimniok 0:826c6171fc1b 40 msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
shimniok 0:826c6171fc1b 41
shimniok 0:826c6171fc1b 42 i += put_uint8_t_by_index(satellites_visible, i, msg->payload); // Number of satellites visible
shimniok 0:826c6171fc1b 43 i += put_array_by_index(satellite_prn, 20, i, msg->payload); // Global satellite ID
shimniok 0:826c6171fc1b 44 i += put_array_by_index(satellite_used, 20, i, msg->payload); // 0: Satellite not used, 1: used for localization
shimniok 0:826c6171fc1b 45 i += put_array_by_index(satellite_elevation, 20, i, msg->payload); // Elevation (0: right on top of receiver, 90: on the horizon) of satellite
shimniok 0:826c6171fc1b 46 i += put_array_by_index(satellite_azimuth, 20, i, msg->payload); // Direction of satellite, 0: 0 deg, 255: 360 deg.
shimniok 0:826c6171fc1b 47 i += put_array_by_index(satellite_snr, 20, i, msg->payload); // Signal to noise ratio of satellite
shimniok 0:826c6171fc1b 48
shimniok 0:826c6171fc1b 49 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 50 }
shimniok 0:826c6171fc1b 51
shimniok 0:826c6171fc1b 52 /**
shimniok 0:826c6171fc1b 53 * @brief Pack a gps_status message
shimniok 0:826c6171fc1b 54 * @param system_id ID of this system
shimniok 0:826c6171fc1b 55 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 56 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 57 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 58 * @param satellites_visible Number of satellites visible
shimniok 0:826c6171fc1b 59 * @param satellite_prn Global satellite ID
shimniok 0:826c6171fc1b 60 * @param satellite_used 0: Satellite not used, 1: used for localization
shimniok 0:826c6171fc1b 61 * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
shimniok 0:826c6171fc1b 62 * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
shimniok 0:826c6171fc1b 63 * @param satellite_snr Signal to noise ratio of satellite
shimniok 0:826c6171fc1b 64 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 65 */
shimniok 0:826c6171fc1b 66 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)
shimniok 0:826c6171fc1b 67 {
shimniok 0:826c6171fc1b 68 uint16_t i = 0;
shimniok 0:826c6171fc1b 69 msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
shimniok 0:826c6171fc1b 70
shimniok 0:826c6171fc1b 71 i += put_uint8_t_by_index(satellites_visible, i, msg->payload); // Number of satellites visible
shimniok 0:826c6171fc1b 72 i += put_array_by_index(satellite_prn, 20, i, msg->payload); // Global satellite ID
shimniok 0:826c6171fc1b 73 i += put_array_by_index(satellite_used, 20, i, msg->payload); // 0: Satellite not used, 1: used for localization
shimniok 0:826c6171fc1b 74 i += put_array_by_index(satellite_elevation, 20, i, msg->payload); // Elevation (0: right on top of receiver, 90: on the horizon) of satellite
shimniok 0:826c6171fc1b 75 i += put_array_by_index(satellite_azimuth, 20, i, msg->payload); // Direction of satellite, 0: 0 deg, 255: 360 deg.
shimniok 0:826c6171fc1b 76 i += put_array_by_index(satellite_snr, 20, i, msg->payload); // Signal to noise ratio of satellite
shimniok 0:826c6171fc1b 77
shimniok 0:826c6171fc1b 78 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 79 }
shimniok 0:826c6171fc1b 80
shimniok 0:826c6171fc1b 81 /**
shimniok 0:826c6171fc1b 82 * @brief Encode a gps_status struct into a message
shimniok 0:826c6171fc1b 83 *
shimniok 0:826c6171fc1b 84 * @param system_id ID of this system
shimniok 0:826c6171fc1b 85 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 86 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 87 * @param gps_status C-struct to read the message contents from
shimniok 0:826c6171fc1b 88 */
shimniok 0:826c6171fc1b 89 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)
shimniok 0:826c6171fc1b 90 {
shimniok 0:826c6171fc1b 91 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);
shimniok 0:826c6171fc1b 92 }
shimniok 0:826c6171fc1b 93
shimniok 0:826c6171fc1b 94 /**
shimniok 0:826c6171fc1b 95 * @brief Send a gps_status message
shimniok 0:826c6171fc1b 96 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 97 *
shimniok 0:826c6171fc1b 98 * @param satellites_visible Number of satellites visible
shimniok 0:826c6171fc1b 99 * @param satellite_prn Global satellite ID
shimniok 0:826c6171fc1b 100 * @param satellite_used 0: Satellite not used, 1: used for localization
shimniok 0:826c6171fc1b 101 * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
shimniok 0:826c6171fc1b 102 * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
shimniok 0:826c6171fc1b 103 * @param satellite_snr Signal to noise ratio of satellite
shimniok 0:826c6171fc1b 104 */
shimniok 0:826c6171fc1b 105 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 106
shimniok 0:826c6171fc1b 107 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)
shimniok 0:826c6171fc1b 108 {
shimniok 0:826c6171fc1b 109 mavlink_message_t msg;
shimniok 0:826c6171fc1b 110 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);
shimniok 0:826c6171fc1b 111 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 112 }
shimniok 0:826c6171fc1b 113
shimniok 0:826c6171fc1b 114 #endif
shimniok 0:826c6171fc1b 115 // MESSAGE GPS_STATUS UNPACKING
shimniok 0:826c6171fc1b 116
shimniok 0:826c6171fc1b 117 /**
shimniok 0:826c6171fc1b 118 * @brief Get field satellites_visible from gps_status message
shimniok 0:826c6171fc1b 119 *
shimniok 0:826c6171fc1b 120 * @return Number of satellites visible
shimniok 0:826c6171fc1b 121 */
shimniok 0:826c6171fc1b 122 static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 123 {
shimniok 0:826c6171fc1b 124 return (uint8_t)(msg->payload)[0];
shimniok 0:826c6171fc1b 125 }
shimniok 0:826c6171fc1b 126
shimniok 0:826c6171fc1b 127 /**
shimniok 0:826c6171fc1b 128 * @brief Get field satellite_prn from gps_status message
shimniok 0:826c6171fc1b 129 *
shimniok 0:826c6171fc1b 130 * @return Global satellite ID
shimniok 0:826c6171fc1b 131 */
shimniok 0:826c6171fc1b 132 static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, int8_t* r_data)
shimniok 0:826c6171fc1b 133 {
shimniok 0:826c6171fc1b 134
shimniok 0:826c6171fc1b 135 memcpy(r_data, msg->payload+sizeof(uint8_t), 20);
shimniok 0:826c6171fc1b 136 return 20;
shimniok 0:826c6171fc1b 137 }
shimniok 0:826c6171fc1b 138
shimniok 0:826c6171fc1b 139 /**
shimniok 0:826c6171fc1b 140 * @brief Get field satellite_used from gps_status message
shimniok 0:826c6171fc1b 141 *
shimniok 0:826c6171fc1b 142 * @return 0: Satellite not used, 1: used for localization
shimniok 0:826c6171fc1b 143 */
shimniok 0:826c6171fc1b 144 static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, int8_t* r_data)
shimniok 0:826c6171fc1b 145 {
shimniok 0:826c6171fc1b 146
shimniok 0:826c6171fc1b 147 memcpy(r_data, msg->payload+sizeof(uint8_t)+20, 20);
shimniok 0:826c6171fc1b 148 return 20;
shimniok 0:826c6171fc1b 149 }
shimniok 0:826c6171fc1b 150
shimniok 0:826c6171fc1b 151 /**
shimniok 0:826c6171fc1b 152 * @brief Get field satellite_elevation from gps_status message
shimniok 0:826c6171fc1b 153 *
shimniok 0:826c6171fc1b 154 * @return Elevation (0: right on top of receiver, 90: on the horizon) of satellite
shimniok 0:826c6171fc1b 155 */
shimniok 0:826c6171fc1b 156 static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, int8_t* r_data)
shimniok 0:826c6171fc1b 157 {
shimniok 0:826c6171fc1b 158
shimniok 0:826c6171fc1b 159 memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20, 20);
shimniok 0:826c6171fc1b 160 return 20;
shimniok 0:826c6171fc1b 161 }
shimniok 0:826c6171fc1b 162
shimniok 0:826c6171fc1b 163 /**
shimniok 0:826c6171fc1b 164 * @brief Get field satellite_azimuth from gps_status message
shimniok 0:826c6171fc1b 165 *
shimniok 0:826c6171fc1b 166 * @return Direction of satellite, 0: 0 deg, 255: 360 deg.
shimniok 0:826c6171fc1b 167 */
shimniok 0:826c6171fc1b 168 static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, int8_t* r_data)
shimniok 0:826c6171fc1b 169 {
shimniok 0:826c6171fc1b 170
shimniok 0:826c6171fc1b 171 memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20+20, 20);
shimniok 0:826c6171fc1b 172 return 20;
shimniok 0:826c6171fc1b 173 }
shimniok 0:826c6171fc1b 174
shimniok 0:826c6171fc1b 175 /**
shimniok 0:826c6171fc1b 176 * @brief Get field satellite_snr from gps_status message
shimniok 0:826c6171fc1b 177 *
shimniok 0:826c6171fc1b 178 * @return Signal to noise ratio of satellite
shimniok 0:826c6171fc1b 179 */
shimniok 0:826c6171fc1b 180 static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, int8_t* r_data)
shimniok 0:826c6171fc1b 181 {
shimniok 0:826c6171fc1b 182
shimniok 0:826c6171fc1b 183 memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20+20+20, 20);
shimniok 0:826c6171fc1b 184 return 20;
shimniok 0:826c6171fc1b 185 }
shimniok 0:826c6171fc1b 186
shimniok 0:826c6171fc1b 187 /**
shimniok 0:826c6171fc1b 188 * @brief Decode a gps_status message into a struct
shimniok 0:826c6171fc1b 189 *
shimniok 0:826c6171fc1b 190 * @param msg The message to decode
shimniok 0:826c6171fc1b 191 * @param gps_status C-struct to decode the message contents into
shimniok 0:826c6171fc1b 192 */
shimniok 0:826c6171fc1b 193 static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status)
shimniok 0:826c6171fc1b 194 {
shimniok 0:826c6171fc1b 195 gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg);
shimniok 0:826c6171fc1b 196 mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn);
shimniok 0:826c6171fc1b 197 mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used);
shimniok 0:826c6171fc1b 198 mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation);
shimniok 0:826c6171fc1b 199 mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth);
shimniok 0:826c6171fc1b 200 mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr);
shimniok 0:826c6171fc1b 201 }