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/pixhawk/mavlink_msg_attitude_control.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 ATTITUDE_CONTROL PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_ATTITUDE_CONTROL 85
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_attitude_control_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint8_t target; ///< The system to be controlled
shimniok 0:826c6171fc1b 8 float roll; ///< roll
shimniok 0:826c6171fc1b 9 float pitch; ///< pitch
shimniok 0:826c6171fc1b 10 float yaw; ///< yaw
shimniok 0:826c6171fc1b 11 float thrust; ///< thrust
shimniok 0:826c6171fc1b 12 uint8_t roll_manual; ///< roll control enabled auto:0, manual:1
shimniok 0:826c6171fc1b 13 uint8_t pitch_manual; ///< pitch auto:0, manual:1
shimniok 0:826c6171fc1b 14 uint8_t yaw_manual; ///< yaw auto:0, manual:1
shimniok 0:826c6171fc1b 15 uint8_t thrust_manual; ///< thrust auto:0, manual:1
shimniok 0:826c6171fc1b 16
shimniok 0:826c6171fc1b 17 } mavlink_attitude_control_t;
shimniok 0:826c6171fc1b 18
shimniok 0:826c6171fc1b 19
shimniok 0:826c6171fc1b 20
shimniok 0:826c6171fc1b 21 /**
shimniok 0:826c6171fc1b 22 * @brief Pack a attitude_control message
shimniok 0:826c6171fc1b 23 * @param system_id ID of this system
shimniok 0:826c6171fc1b 24 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 25 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 26 *
shimniok 0:826c6171fc1b 27 * @param target The system to be controlled
shimniok 0:826c6171fc1b 28 * @param roll roll
shimniok 0:826c6171fc1b 29 * @param pitch pitch
shimniok 0:826c6171fc1b 30 * @param yaw yaw
shimniok 0:826c6171fc1b 31 * @param thrust thrust
shimniok 0:826c6171fc1b 32 * @param roll_manual roll control enabled auto:0, manual:1
shimniok 0:826c6171fc1b 33 * @param pitch_manual pitch auto:0, manual:1
shimniok 0:826c6171fc1b 34 * @param yaw_manual yaw auto:0, manual:1
shimniok 0:826c6171fc1b 35 * @param thrust_manual thrust auto:0, manual:1
shimniok 0:826c6171fc1b 36 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 37 */
shimniok 0:826c6171fc1b 38 static inline uint16_t mavlink_msg_attitude_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
shimniok 0:826c6171fc1b 39 {
shimniok 0:826c6171fc1b 40 uint16_t i = 0;
shimniok 0:826c6171fc1b 41 msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL;
shimniok 0:826c6171fc1b 42
shimniok 0:826c6171fc1b 43 i += put_uint8_t_by_index(target, i, msg->payload); // The system to be controlled
shimniok 0:826c6171fc1b 44 i += put_float_by_index(roll, i, msg->payload); // roll
shimniok 0:826c6171fc1b 45 i += put_float_by_index(pitch, i, msg->payload); // pitch
shimniok 0:826c6171fc1b 46 i += put_float_by_index(yaw, i, msg->payload); // yaw
shimniok 0:826c6171fc1b 47 i += put_float_by_index(thrust, i, msg->payload); // thrust
shimniok 0:826c6171fc1b 48 i += put_uint8_t_by_index(roll_manual, i, msg->payload); // roll control enabled auto:0, manual:1
shimniok 0:826c6171fc1b 49 i += put_uint8_t_by_index(pitch_manual, i, msg->payload); // pitch auto:0, manual:1
shimniok 0:826c6171fc1b 50 i += put_uint8_t_by_index(yaw_manual, i, msg->payload); // yaw auto:0, manual:1
shimniok 0:826c6171fc1b 51 i += put_uint8_t_by_index(thrust_manual, i, msg->payload); // thrust auto:0, manual:1
shimniok 0:826c6171fc1b 52
shimniok 0:826c6171fc1b 53 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 54 }
shimniok 0:826c6171fc1b 55
shimniok 0:826c6171fc1b 56 /**
shimniok 0:826c6171fc1b 57 * @brief Pack a attitude_control message
shimniok 0:826c6171fc1b 58 * @param system_id ID of this system
shimniok 0:826c6171fc1b 59 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 60 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 61 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 62 * @param target The system to be controlled
shimniok 0:826c6171fc1b 63 * @param roll roll
shimniok 0:826c6171fc1b 64 * @param pitch pitch
shimniok 0:826c6171fc1b 65 * @param yaw yaw
shimniok 0:826c6171fc1b 66 * @param thrust thrust
shimniok 0:826c6171fc1b 67 * @param roll_manual roll control enabled auto:0, manual:1
shimniok 0:826c6171fc1b 68 * @param pitch_manual pitch auto:0, manual:1
shimniok 0:826c6171fc1b 69 * @param yaw_manual yaw auto:0, manual:1
shimniok 0:826c6171fc1b 70 * @param thrust_manual thrust auto:0, manual:1
shimniok 0:826c6171fc1b 71 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 72 */
shimniok 0:826c6171fc1b 73 static inline uint16_t mavlink_msg_attitude_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
shimniok 0:826c6171fc1b 74 {
shimniok 0:826c6171fc1b 75 uint16_t i = 0;
shimniok 0:826c6171fc1b 76 msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL;
shimniok 0:826c6171fc1b 77
shimniok 0:826c6171fc1b 78 i += put_uint8_t_by_index(target, i, msg->payload); // The system to be controlled
shimniok 0:826c6171fc1b 79 i += put_float_by_index(roll, i, msg->payload); // roll
shimniok 0:826c6171fc1b 80 i += put_float_by_index(pitch, i, msg->payload); // pitch
shimniok 0:826c6171fc1b 81 i += put_float_by_index(yaw, i, msg->payload); // yaw
shimniok 0:826c6171fc1b 82 i += put_float_by_index(thrust, i, msg->payload); // thrust
shimniok 0:826c6171fc1b 83 i += put_uint8_t_by_index(roll_manual, i, msg->payload); // roll control enabled auto:0, manual:1
shimniok 0:826c6171fc1b 84 i += put_uint8_t_by_index(pitch_manual, i, msg->payload); // pitch auto:0, manual:1
shimniok 0:826c6171fc1b 85 i += put_uint8_t_by_index(yaw_manual, i, msg->payload); // yaw auto:0, manual:1
shimniok 0:826c6171fc1b 86 i += put_uint8_t_by_index(thrust_manual, i, msg->payload); // thrust auto:0, manual:1
shimniok 0:826c6171fc1b 87
shimniok 0:826c6171fc1b 88 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 89 }
shimniok 0:826c6171fc1b 90
shimniok 0:826c6171fc1b 91 /**
shimniok 0:826c6171fc1b 92 * @brief Encode a attitude_control struct into a message
shimniok 0:826c6171fc1b 93 *
shimniok 0:826c6171fc1b 94 * @param system_id ID of this system
shimniok 0:826c6171fc1b 95 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 96 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 97 * @param attitude_control C-struct to read the message contents from
shimniok 0:826c6171fc1b 98 */
shimniok 0:826c6171fc1b 99 static inline uint16_t mavlink_msg_attitude_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_control_t* attitude_control)
shimniok 0:826c6171fc1b 100 {
shimniok 0:826c6171fc1b 101 return mavlink_msg_attitude_control_pack(system_id, component_id, msg, attitude_control->target, attitude_control->roll, attitude_control->pitch, attitude_control->yaw, attitude_control->thrust, attitude_control->roll_manual, attitude_control->pitch_manual, attitude_control->yaw_manual, attitude_control->thrust_manual);
shimniok 0:826c6171fc1b 102 }
shimniok 0:826c6171fc1b 103
shimniok 0:826c6171fc1b 104 /**
shimniok 0:826c6171fc1b 105 * @brief Send a attitude_control message
shimniok 0:826c6171fc1b 106 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 107 *
shimniok 0:826c6171fc1b 108 * @param target The system to be controlled
shimniok 0:826c6171fc1b 109 * @param roll roll
shimniok 0:826c6171fc1b 110 * @param pitch pitch
shimniok 0:826c6171fc1b 111 * @param yaw yaw
shimniok 0:826c6171fc1b 112 * @param thrust thrust
shimniok 0:826c6171fc1b 113 * @param roll_manual roll control enabled auto:0, manual:1
shimniok 0:826c6171fc1b 114 * @param pitch_manual pitch auto:0, manual:1
shimniok 0:826c6171fc1b 115 * @param yaw_manual yaw auto:0, manual:1
shimniok 0:826c6171fc1b 116 * @param thrust_manual thrust auto:0, manual:1
shimniok 0:826c6171fc1b 117 */
shimniok 0:826c6171fc1b 118 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 119
shimniok 0:826c6171fc1b 120 static inline void mavlink_msg_attitude_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
shimniok 0:826c6171fc1b 121 {
shimniok 0:826c6171fc1b 122 mavlink_message_t msg;
shimniok 0:826c6171fc1b 123 mavlink_msg_attitude_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual);
shimniok 0:826c6171fc1b 124 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 125 }
shimniok 0:826c6171fc1b 126
shimniok 0:826c6171fc1b 127 #endif
shimniok 0:826c6171fc1b 128 // MESSAGE ATTITUDE_CONTROL UNPACKING
shimniok 0:826c6171fc1b 129
shimniok 0:826c6171fc1b 130 /**
shimniok 0:826c6171fc1b 131 * @brief Get field target from attitude_control message
shimniok 0:826c6171fc1b 132 *
shimniok 0:826c6171fc1b 133 * @return The system to be controlled
shimniok 0:826c6171fc1b 134 */
shimniok 0:826c6171fc1b 135 static inline uint8_t mavlink_msg_attitude_control_get_target(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 136 {
shimniok 0:826c6171fc1b 137 return (uint8_t)(msg->payload)[0];
shimniok 0:826c6171fc1b 138 }
shimniok 0:826c6171fc1b 139
shimniok 0:826c6171fc1b 140 /**
shimniok 0:826c6171fc1b 141 * @brief Get field roll from attitude_control message
shimniok 0:826c6171fc1b 142 *
shimniok 0:826c6171fc1b 143 * @return roll
shimniok 0:826c6171fc1b 144 */
shimniok 0:826c6171fc1b 145 static inline float mavlink_msg_attitude_control_get_roll(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 146 {
shimniok 0:826c6171fc1b 147 generic_32bit r;
shimniok 0:826c6171fc1b 148 r.b[3] = (msg->payload+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 149 r.b[2] = (msg->payload+sizeof(uint8_t))[1];
shimniok 0:826c6171fc1b 150 r.b[1] = (msg->payload+sizeof(uint8_t))[2];
shimniok 0:826c6171fc1b 151 r.b[0] = (msg->payload+sizeof(uint8_t))[3];
shimniok 0:826c6171fc1b 152 return (float)r.f;
shimniok 0:826c6171fc1b 153 }
shimniok 0:826c6171fc1b 154
shimniok 0:826c6171fc1b 155 /**
shimniok 0:826c6171fc1b 156 * @brief Get field pitch from attitude_control message
shimniok 0:826c6171fc1b 157 *
shimniok 0:826c6171fc1b 158 * @return pitch
shimniok 0:826c6171fc1b 159 */
shimniok 0:826c6171fc1b 160 static inline float mavlink_msg_attitude_control_get_pitch(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 161 {
shimniok 0:826c6171fc1b 162 generic_32bit r;
shimniok 0:826c6171fc1b 163 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float))[0];
shimniok 0:826c6171fc1b 164 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1];
shimniok 0:826c6171fc1b 165 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2];
shimniok 0:826c6171fc1b 166 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float))[3];
shimniok 0:826c6171fc1b 167 return (float)r.f;
shimniok 0:826c6171fc1b 168 }
shimniok 0:826c6171fc1b 169
shimniok 0:826c6171fc1b 170 /**
shimniok 0:826c6171fc1b 171 * @brief Get field yaw from attitude_control message
shimniok 0:826c6171fc1b 172 *
shimniok 0:826c6171fc1b 173 * @return yaw
shimniok 0:826c6171fc1b 174 */
shimniok 0:826c6171fc1b 175 static inline float mavlink_msg_attitude_control_get_yaw(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 176 {
shimniok 0:826c6171fc1b 177 generic_32bit r;
shimniok 0:826c6171fc1b 178 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:826c6171fc1b 179 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:826c6171fc1b 180 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:826c6171fc1b 181 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:826c6171fc1b 182 return (float)r.f;
shimniok 0:826c6171fc1b 183 }
shimniok 0:826c6171fc1b 184
shimniok 0:826c6171fc1b 185 /**
shimniok 0:826c6171fc1b 186 * @brief Get field thrust from attitude_control message
shimniok 0:826c6171fc1b 187 *
shimniok 0:826c6171fc1b 188 * @return thrust
shimniok 0:826c6171fc1b 189 */
shimniok 0:826c6171fc1b 190 static inline float mavlink_msg_attitude_control_get_thrust(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 191 {
shimniok 0:826c6171fc1b 192 generic_32bit r;
shimniok 0:826c6171fc1b 193 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:826c6171fc1b 194 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:826c6171fc1b 195 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:826c6171fc1b 196 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:826c6171fc1b 197 return (float)r.f;
shimniok 0:826c6171fc1b 198 }
shimniok 0:826c6171fc1b 199
shimniok 0:826c6171fc1b 200 /**
shimniok 0:826c6171fc1b 201 * @brief Get field roll_manual from attitude_control message
shimniok 0:826c6171fc1b 202 *
shimniok 0:826c6171fc1b 203 * @return roll control enabled auto:0, manual:1
shimniok 0:826c6171fc1b 204 */
shimniok 0:826c6171fc1b 205 static inline uint8_t mavlink_msg_attitude_control_get_roll_manual(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 206 {
shimniok 0:826c6171fc1b 207 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:826c6171fc1b 208 }
shimniok 0:826c6171fc1b 209
shimniok 0:826c6171fc1b 210 /**
shimniok 0:826c6171fc1b 211 * @brief Get field pitch_manual from attitude_control message
shimniok 0:826c6171fc1b 212 *
shimniok 0:826c6171fc1b 213 * @return pitch auto:0, manual:1
shimniok 0:826c6171fc1b 214 */
shimniok 0:826c6171fc1b 215 static inline uint8_t mavlink_msg_attitude_control_get_pitch_manual(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 216 {
shimniok 0:826c6171fc1b 217 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 218 }
shimniok 0:826c6171fc1b 219
shimniok 0:826c6171fc1b 220 /**
shimniok 0:826c6171fc1b 221 * @brief Get field yaw_manual from attitude_control message
shimniok 0:826c6171fc1b 222 *
shimniok 0:826c6171fc1b 223 * @return yaw auto:0, manual:1
shimniok 0:826c6171fc1b 224 */
shimniok 0:826c6171fc1b 225 static inline uint8_t mavlink_msg_attitude_control_get_yaw_manual(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 226 {
shimniok 0:826c6171fc1b 227 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 228 }
shimniok 0:826c6171fc1b 229
shimniok 0:826c6171fc1b 230 /**
shimniok 0:826c6171fc1b 231 * @brief Get field thrust_manual from attitude_control message
shimniok 0:826c6171fc1b 232 *
shimniok 0:826c6171fc1b 233 * @return thrust auto:0, manual:1
shimniok 0:826c6171fc1b 234 */
shimniok 0:826c6171fc1b 235 static inline uint8_t mavlink_msg_attitude_control_get_thrust_manual(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 236 {
shimniok 0:826c6171fc1b 237 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 238 }
shimniok 0:826c6171fc1b 239
shimniok 0:826c6171fc1b 240 /**
shimniok 0:826c6171fc1b 241 * @brief Decode a attitude_control message into a struct
shimniok 0:826c6171fc1b 242 *
shimniok 0:826c6171fc1b 243 * @param msg The message to decode
shimniok 0:826c6171fc1b 244 * @param attitude_control C-struct to decode the message contents into
shimniok 0:826c6171fc1b 245 */
shimniok 0:826c6171fc1b 246 static inline void mavlink_msg_attitude_control_decode(const mavlink_message_t* msg, mavlink_attitude_control_t* attitude_control)
shimniok 0:826c6171fc1b 247 {
shimniok 0:826c6171fc1b 248 attitude_control->target = mavlink_msg_attitude_control_get_target(msg);
shimniok 0:826c6171fc1b 249 attitude_control->roll = mavlink_msg_attitude_control_get_roll(msg);
shimniok 0:826c6171fc1b 250 attitude_control->pitch = mavlink_msg_attitude_control_get_pitch(msg);
shimniok 0:826c6171fc1b 251 attitude_control->yaw = mavlink_msg_attitude_control_get_yaw(msg);
shimniok 0:826c6171fc1b 252 attitude_control->thrust = mavlink_msg_attitude_control_get_thrust(msg);
shimniok 0:826c6171fc1b 253 attitude_control->roll_manual = mavlink_msg_attitude_control_get_roll_manual(msg);
shimniok 0:826c6171fc1b 254 attitude_control->pitch_manual = mavlink_msg_attitude_control_get_pitch_manual(msg);
shimniok 0:826c6171fc1b 255 attitude_control->yaw_manual = mavlink_msg_attitude_control_get_yaw_manual(msg);
shimniok 0:826c6171fc1b 256 attitude_control->thrust_manual = mavlink_msg_attitude_control_get_thrust_manual(msg);
shimniok 0:826c6171fc1b 257 }