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_vfr_hud.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 VFR_HUD PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_VFR_HUD 74
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_vfr_hud_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 float airspeed; ///< Current airspeed in m/s
shimniok 0:826c6171fc1b 8 float groundspeed; ///< Current ground speed in m/s
shimniok 0:826c6171fc1b 9 int16_t heading; ///< Current heading in degrees, in compass units (0..360, 0=north)
shimniok 0:826c6171fc1b 10 uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100
shimniok 0:826c6171fc1b 11 float alt; ///< Current altitude (MSL), in meters
shimniok 0:826c6171fc1b 12 float climb; ///< Current climb rate in meters/second
shimniok 0:826c6171fc1b 13
shimniok 0:826c6171fc1b 14 } mavlink_vfr_hud_t;
shimniok 0:826c6171fc1b 15
shimniok 0:826c6171fc1b 16
shimniok 0:826c6171fc1b 17
shimniok 0:826c6171fc1b 18 /**
shimniok 0:826c6171fc1b 19 * @brief Pack a vfr_hud message
shimniok 0:826c6171fc1b 20 * @param system_id ID of this system
shimniok 0:826c6171fc1b 21 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 22 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 23 *
shimniok 0:826c6171fc1b 24 * @param airspeed Current airspeed in m/s
shimniok 0:826c6171fc1b 25 * @param groundspeed Current ground speed in m/s
shimniok 0:826c6171fc1b 26 * @param heading Current heading in degrees, in compass units (0..360, 0=north)
shimniok 0:826c6171fc1b 27 * @param throttle Current throttle setting in integer percent, 0 to 100
shimniok 0:826c6171fc1b 28 * @param alt Current altitude (MSL), in meters
shimniok 0:826c6171fc1b 29 * @param climb Current climb rate in meters/second
shimniok 0:826c6171fc1b 30 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 31 */
shimniok 0:826c6171fc1b 32 static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
shimniok 0:826c6171fc1b 33 {
shimniok 0:826c6171fc1b 34 uint16_t i = 0;
shimniok 0:826c6171fc1b 35 msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
shimniok 0:826c6171fc1b 36
shimniok 0:826c6171fc1b 37 i += put_float_by_index(airspeed, i, msg->payload); // Current airspeed in m/s
shimniok 0:826c6171fc1b 38 i += put_float_by_index(groundspeed, i, msg->payload); // Current ground speed in m/s
shimniok 0:826c6171fc1b 39 i += put_int16_t_by_index(heading, i, msg->payload); // Current heading in degrees, in compass units (0..360, 0=north)
shimniok 0:826c6171fc1b 40 i += put_uint16_t_by_index(throttle, i, msg->payload); // Current throttle setting in integer percent, 0 to 100
shimniok 0:826c6171fc1b 41 i += put_float_by_index(alt, i, msg->payload); // Current altitude (MSL), in meters
shimniok 0:826c6171fc1b 42 i += put_float_by_index(climb, i, msg->payload); // Current climb rate in meters/second
shimniok 0:826c6171fc1b 43
shimniok 0:826c6171fc1b 44 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 45 }
shimniok 0:826c6171fc1b 46
shimniok 0:826c6171fc1b 47 /**
shimniok 0:826c6171fc1b 48 * @brief Pack a vfr_hud message
shimniok 0:826c6171fc1b 49 * @param system_id ID of this system
shimniok 0:826c6171fc1b 50 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 51 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 52 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 53 * @param airspeed Current airspeed in m/s
shimniok 0:826c6171fc1b 54 * @param groundspeed Current ground speed in m/s
shimniok 0:826c6171fc1b 55 * @param heading Current heading in degrees, in compass units (0..360, 0=north)
shimniok 0:826c6171fc1b 56 * @param throttle Current throttle setting in integer percent, 0 to 100
shimniok 0:826c6171fc1b 57 * @param alt Current altitude (MSL), in meters
shimniok 0:826c6171fc1b 58 * @param climb Current climb rate in meters/second
shimniok 0:826c6171fc1b 59 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 60 */
shimniok 0:826c6171fc1b 61 static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
shimniok 0:826c6171fc1b 62 {
shimniok 0:826c6171fc1b 63 uint16_t i = 0;
shimniok 0:826c6171fc1b 64 msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
shimniok 0:826c6171fc1b 65
shimniok 0:826c6171fc1b 66 i += put_float_by_index(airspeed, i, msg->payload); // Current airspeed in m/s
shimniok 0:826c6171fc1b 67 i += put_float_by_index(groundspeed, i, msg->payload); // Current ground speed in m/s
shimniok 0:826c6171fc1b 68 i += put_int16_t_by_index(heading, i, msg->payload); // Current heading in degrees, in compass units (0..360, 0=north)
shimniok 0:826c6171fc1b 69 i += put_uint16_t_by_index(throttle, i, msg->payload); // Current throttle setting in integer percent, 0 to 100
shimniok 0:826c6171fc1b 70 i += put_float_by_index(alt, i, msg->payload); // Current altitude (MSL), in meters
shimniok 0:826c6171fc1b 71 i += put_float_by_index(climb, i, msg->payload); // Current climb rate in meters/second
shimniok 0:826c6171fc1b 72
shimniok 0:826c6171fc1b 73 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 74 }
shimniok 0:826c6171fc1b 75
shimniok 0:826c6171fc1b 76 /**
shimniok 0:826c6171fc1b 77 * @brief Encode a vfr_hud struct into a message
shimniok 0:826c6171fc1b 78 *
shimniok 0:826c6171fc1b 79 * @param system_id ID of this system
shimniok 0:826c6171fc1b 80 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 81 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 82 * @param vfr_hud C-struct to read the message contents from
shimniok 0:826c6171fc1b 83 */
shimniok 0:826c6171fc1b 84 static inline uint16_t mavlink_msg_vfr_hud_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud)
shimniok 0:826c6171fc1b 85 {
shimniok 0:826c6171fc1b 86 return mavlink_msg_vfr_hud_pack(system_id, component_id, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb);
shimniok 0:826c6171fc1b 87 }
shimniok 0:826c6171fc1b 88
shimniok 0:826c6171fc1b 89 /**
shimniok 0:826c6171fc1b 90 * @brief Send a vfr_hud message
shimniok 0:826c6171fc1b 91 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 92 *
shimniok 0:826c6171fc1b 93 * @param airspeed Current airspeed in m/s
shimniok 0:826c6171fc1b 94 * @param groundspeed Current ground speed in m/s
shimniok 0:826c6171fc1b 95 * @param heading Current heading in degrees, in compass units (0..360, 0=north)
shimniok 0:826c6171fc1b 96 * @param throttle Current throttle setting in integer percent, 0 to 100
shimniok 0:826c6171fc1b 97 * @param alt Current altitude (MSL), in meters
shimniok 0:826c6171fc1b 98 * @param climb Current climb rate in meters/second
shimniok 0:826c6171fc1b 99 */
shimniok 0:826c6171fc1b 100 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 101
shimniok 0:826c6171fc1b 102 static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
shimniok 0:826c6171fc1b 103 {
shimniok 0:826c6171fc1b 104 mavlink_message_t msg;
shimniok 0:826c6171fc1b 105 mavlink_msg_vfr_hud_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, airspeed, groundspeed, heading, throttle, alt, climb);
shimniok 0:826c6171fc1b 106 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 107 }
shimniok 0:826c6171fc1b 108
shimniok 0:826c6171fc1b 109 #endif
shimniok 0:826c6171fc1b 110 // MESSAGE VFR_HUD UNPACKING
shimniok 0:826c6171fc1b 111
shimniok 0:826c6171fc1b 112 /**
shimniok 0:826c6171fc1b 113 * @brief Get field airspeed from vfr_hud message
shimniok 0:826c6171fc1b 114 *
shimniok 0:826c6171fc1b 115 * @return Current airspeed in m/s
shimniok 0:826c6171fc1b 116 */
shimniok 0:826c6171fc1b 117 static inline float mavlink_msg_vfr_hud_get_airspeed(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 118 {
shimniok 0:826c6171fc1b 119 generic_32bit r;
shimniok 0:826c6171fc1b 120 r.b[3] = (msg->payload)[0];
shimniok 0:826c6171fc1b 121 r.b[2] = (msg->payload)[1];
shimniok 0:826c6171fc1b 122 r.b[1] = (msg->payload)[2];
shimniok 0:826c6171fc1b 123 r.b[0] = (msg->payload)[3];
shimniok 0:826c6171fc1b 124 return (float)r.f;
shimniok 0:826c6171fc1b 125 }
shimniok 0:826c6171fc1b 126
shimniok 0:826c6171fc1b 127 /**
shimniok 0:826c6171fc1b 128 * @brief Get field groundspeed from vfr_hud message
shimniok 0:826c6171fc1b 129 *
shimniok 0:826c6171fc1b 130 * @return Current ground speed in m/s
shimniok 0:826c6171fc1b 131 */
shimniok 0:826c6171fc1b 132 static inline float mavlink_msg_vfr_hud_get_groundspeed(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 133 {
shimniok 0:826c6171fc1b 134 generic_32bit r;
shimniok 0:826c6171fc1b 135 r.b[3] = (msg->payload+sizeof(float))[0];
shimniok 0:826c6171fc1b 136 r.b[2] = (msg->payload+sizeof(float))[1];
shimniok 0:826c6171fc1b 137 r.b[1] = (msg->payload+sizeof(float))[2];
shimniok 0:826c6171fc1b 138 r.b[0] = (msg->payload+sizeof(float))[3];
shimniok 0:826c6171fc1b 139 return (float)r.f;
shimniok 0:826c6171fc1b 140 }
shimniok 0:826c6171fc1b 141
shimniok 0:826c6171fc1b 142 /**
shimniok 0:826c6171fc1b 143 * @brief Get field heading from vfr_hud message
shimniok 0:826c6171fc1b 144 *
shimniok 0:826c6171fc1b 145 * @return Current heading in degrees, in compass units (0..360, 0=north)
shimniok 0:826c6171fc1b 146 */
shimniok 0:826c6171fc1b 147 static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 148 {
shimniok 0:826c6171fc1b 149 generic_16bit r;
shimniok 0:826c6171fc1b 150 r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[0];
shimniok 0:826c6171fc1b 151 r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[1];
shimniok 0:826c6171fc1b 152 return (int16_t)r.s;
shimniok 0:826c6171fc1b 153 }
shimniok 0:826c6171fc1b 154
shimniok 0:826c6171fc1b 155 /**
shimniok 0:826c6171fc1b 156 * @brief Get field throttle from vfr_hud message
shimniok 0:826c6171fc1b 157 *
shimniok 0:826c6171fc1b 158 * @return Current throttle setting in integer percent, 0 to 100
shimniok 0:826c6171fc1b 159 */
shimniok 0:826c6171fc1b 160 static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 161 {
shimniok 0:826c6171fc1b 162 generic_16bit r;
shimniok 0:826c6171fc1b 163 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[0];
shimniok 0:826c6171fc1b 164 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[1];
shimniok 0:826c6171fc1b 165 return (uint16_t)r.s;
shimniok 0:826c6171fc1b 166 }
shimniok 0:826c6171fc1b 167
shimniok 0:826c6171fc1b 168 /**
shimniok 0:826c6171fc1b 169 * @brief Get field alt from vfr_hud message
shimniok 0:826c6171fc1b 170 *
shimniok 0:826c6171fc1b 171 * @return Current altitude (MSL), in meters
shimniok 0:826c6171fc1b 172 */
shimniok 0:826c6171fc1b 173 static inline float mavlink_msg_vfr_hud_get_alt(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 174 {
shimniok 0:826c6171fc1b 175 generic_32bit r;
shimniok 0:826c6171fc1b 176 r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[0];
shimniok 0:826c6171fc1b 177 r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[1];
shimniok 0:826c6171fc1b 178 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[2];
shimniok 0:826c6171fc1b 179 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[3];
shimniok 0:826c6171fc1b 180 return (float)r.f;
shimniok 0:826c6171fc1b 181 }
shimniok 0:826c6171fc1b 182
shimniok 0:826c6171fc1b 183 /**
shimniok 0:826c6171fc1b 184 * @brief Get field climb from vfr_hud message
shimniok 0:826c6171fc1b 185 *
shimniok 0:826c6171fc1b 186 * @return Current climb rate in meters/second
shimniok 0:826c6171fc1b 187 */
shimniok 0:826c6171fc1b 188 static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 189 {
shimniok 0:826c6171fc1b 190 generic_32bit r;
shimniok 0:826c6171fc1b 191 r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[0];
shimniok 0:826c6171fc1b 192 r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[1];
shimniok 0:826c6171fc1b 193 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[2];
shimniok 0:826c6171fc1b 194 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[3];
shimniok 0:826c6171fc1b 195 return (float)r.f;
shimniok 0:826c6171fc1b 196 }
shimniok 0:826c6171fc1b 197
shimniok 0:826c6171fc1b 198 /**
shimniok 0:826c6171fc1b 199 * @brief Decode a vfr_hud message into a struct
shimniok 0:826c6171fc1b 200 *
shimniok 0:826c6171fc1b 201 * @param msg The message to decode
shimniok 0:826c6171fc1b 202 * @param vfr_hud C-struct to decode the message contents into
shimniok 0:826c6171fc1b 203 */
shimniok 0:826c6171fc1b 204 static inline void mavlink_msg_vfr_hud_decode(const mavlink_message_t* msg, mavlink_vfr_hud_t* vfr_hud)
shimniok 0:826c6171fc1b 205 {
shimniok 0:826c6171fc1b 206 vfr_hud->airspeed = mavlink_msg_vfr_hud_get_airspeed(msg);
shimniok 0:826c6171fc1b 207 vfr_hud->groundspeed = mavlink_msg_vfr_hud_get_groundspeed(msg);
shimniok 0:826c6171fc1b 208 vfr_hud->heading = mavlink_msg_vfr_hud_get_heading(msg);
shimniok 0:826c6171fc1b 209 vfr_hud->throttle = mavlink_msg_vfr_hud_get_throttle(msg);
shimniok 0:826c6171fc1b 210 vfr_hud->alt = mavlink_msg_vfr_hud_get_alt(msg);
shimniok 0:826c6171fc1b 211 vfr_hud->climb = mavlink_msg_vfr_hud_get_climb(msg);
shimniok 0:826c6171fc1b 212 }