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_vision_speed_estimate.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 VISION_SPEED_ESTIMATE PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 113
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_vision_speed_estimate_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint64_t usec; ///< Timestamp (milliseconds)
shimniok 0:826c6171fc1b 8 float x; ///< Global X speed
shimniok 0:826c6171fc1b 9 float y; ///< Global Y speed
shimniok 0:826c6171fc1b 10 float z; ///< Global Z speed
shimniok 0:826c6171fc1b 11
shimniok 0:826c6171fc1b 12 } mavlink_vision_speed_estimate_t;
shimniok 0:826c6171fc1b 13
shimniok 0:826c6171fc1b 14
shimniok 0:826c6171fc1b 15
shimniok 0:826c6171fc1b 16 /**
shimniok 0:826c6171fc1b 17 * @brief Pack a vision_speed_estimate message
shimniok 0:826c6171fc1b 18 * @param system_id ID of this system
shimniok 0:826c6171fc1b 19 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 20 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 21 *
shimniok 0:826c6171fc1b 22 * @param usec Timestamp (milliseconds)
shimniok 0:826c6171fc1b 23 * @param x Global X speed
shimniok 0:826c6171fc1b 24 * @param y Global Y speed
shimniok 0:826c6171fc1b 25 * @param z Global Z speed
shimniok 0:826c6171fc1b 26 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 27 */
shimniok 0:826c6171fc1b 28 static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float x, float y, float z)
shimniok 0:826c6171fc1b 29 {
shimniok 0:826c6171fc1b 30 uint16_t i = 0;
shimniok 0:826c6171fc1b 31 msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
shimniok 0:826c6171fc1b 32
shimniok 0:826c6171fc1b 33 i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds)
shimniok 0:826c6171fc1b 34 i += put_float_by_index(x, i, msg->payload); // Global X speed
shimniok 0:826c6171fc1b 35 i += put_float_by_index(y, i, msg->payload); // Global Y speed
shimniok 0:826c6171fc1b 36 i += put_float_by_index(z, i, msg->payload); // Global Z speed
shimniok 0:826c6171fc1b 37
shimniok 0:826c6171fc1b 38 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 39 }
shimniok 0:826c6171fc1b 40
shimniok 0:826c6171fc1b 41 /**
shimniok 0:826c6171fc1b 42 * @brief Pack a vision_speed_estimate message
shimniok 0:826c6171fc1b 43 * @param system_id ID of this system
shimniok 0:826c6171fc1b 44 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 45 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 46 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 47 * @param usec Timestamp (milliseconds)
shimniok 0:826c6171fc1b 48 * @param x Global X speed
shimniok 0:826c6171fc1b 49 * @param y Global Y speed
shimniok 0:826c6171fc1b 50 * @param z Global Z speed
shimniok 0:826c6171fc1b 51 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 52 */
shimniok 0:826c6171fc1b 53 static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float x, float y, float z)
shimniok 0:826c6171fc1b 54 {
shimniok 0:826c6171fc1b 55 uint16_t i = 0;
shimniok 0:826c6171fc1b 56 msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
shimniok 0:826c6171fc1b 57
shimniok 0:826c6171fc1b 58 i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds)
shimniok 0:826c6171fc1b 59 i += put_float_by_index(x, i, msg->payload); // Global X speed
shimniok 0:826c6171fc1b 60 i += put_float_by_index(y, i, msg->payload); // Global Y speed
shimniok 0:826c6171fc1b 61 i += put_float_by_index(z, i, msg->payload); // Global Z speed
shimniok 0:826c6171fc1b 62
shimniok 0:826c6171fc1b 63 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 64 }
shimniok 0:826c6171fc1b 65
shimniok 0:826c6171fc1b 66 /**
shimniok 0:826c6171fc1b 67 * @brief Encode a vision_speed_estimate struct into a message
shimniok 0:826c6171fc1b 68 *
shimniok 0:826c6171fc1b 69 * @param system_id ID of this system
shimniok 0:826c6171fc1b 70 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 71 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 72 * @param vision_speed_estimate C-struct to read the message contents from
shimniok 0:826c6171fc1b 73 */
shimniok 0:826c6171fc1b 74 static inline uint16_t mavlink_msg_vision_speed_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
shimniok 0:826c6171fc1b 75 {
shimniok 0:826c6171fc1b 76 return mavlink_msg_vision_speed_estimate_pack(system_id, component_id, msg, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z);
shimniok 0:826c6171fc1b 77 }
shimniok 0:826c6171fc1b 78
shimniok 0:826c6171fc1b 79 /**
shimniok 0:826c6171fc1b 80 * @brief Send a vision_speed_estimate message
shimniok 0:826c6171fc1b 81 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 82 *
shimniok 0:826c6171fc1b 83 * @param usec Timestamp (milliseconds)
shimniok 0:826c6171fc1b 84 * @param x Global X speed
shimniok 0:826c6171fc1b 85 * @param y Global Y speed
shimniok 0:826c6171fc1b 86 * @param z Global Z speed
shimniok 0:826c6171fc1b 87 */
shimniok 0:826c6171fc1b 88 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 89
shimniok 0:826c6171fc1b 90 static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z)
shimniok 0:826c6171fc1b 91 {
shimniok 0:826c6171fc1b 92 mavlink_message_t msg;
shimniok 0:826c6171fc1b 93 mavlink_msg_vision_speed_estimate_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z);
shimniok 0:826c6171fc1b 94 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 95 }
shimniok 0:826c6171fc1b 96
shimniok 0:826c6171fc1b 97 #endif
shimniok 0:826c6171fc1b 98 // MESSAGE VISION_SPEED_ESTIMATE UNPACKING
shimniok 0:826c6171fc1b 99
shimniok 0:826c6171fc1b 100 /**
shimniok 0:826c6171fc1b 101 * @brief Get field usec from vision_speed_estimate message
shimniok 0:826c6171fc1b 102 *
shimniok 0:826c6171fc1b 103 * @return Timestamp (milliseconds)
shimniok 0:826c6171fc1b 104 */
shimniok 0:826c6171fc1b 105 static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 106 {
shimniok 0:826c6171fc1b 107 generic_64bit r;
shimniok 0:826c6171fc1b 108 r.b[7] = (msg->payload)[0];
shimniok 0:826c6171fc1b 109 r.b[6] = (msg->payload)[1];
shimniok 0:826c6171fc1b 110 r.b[5] = (msg->payload)[2];
shimniok 0:826c6171fc1b 111 r.b[4] = (msg->payload)[3];
shimniok 0:826c6171fc1b 112 r.b[3] = (msg->payload)[4];
shimniok 0:826c6171fc1b 113 r.b[2] = (msg->payload)[5];
shimniok 0:826c6171fc1b 114 r.b[1] = (msg->payload)[6];
shimniok 0:826c6171fc1b 115 r.b[0] = (msg->payload)[7];
shimniok 0:826c6171fc1b 116 return (uint64_t)r.ll;
shimniok 0:826c6171fc1b 117 }
shimniok 0:826c6171fc1b 118
shimniok 0:826c6171fc1b 119 /**
shimniok 0:826c6171fc1b 120 * @brief Get field x from vision_speed_estimate message
shimniok 0:826c6171fc1b 121 *
shimniok 0:826c6171fc1b 122 * @return Global X speed
shimniok 0:826c6171fc1b 123 */
shimniok 0:826c6171fc1b 124 static inline float mavlink_msg_vision_speed_estimate_get_x(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 125 {
shimniok 0:826c6171fc1b 126 generic_32bit r;
shimniok 0:826c6171fc1b 127 r.b[3] = (msg->payload+sizeof(uint64_t))[0];
shimniok 0:826c6171fc1b 128 r.b[2] = (msg->payload+sizeof(uint64_t))[1];
shimniok 0:826c6171fc1b 129 r.b[1] = (msg->payload+sizeof(uint64_t))[2];
shimniok 0:826c6171fc1b 130 r.b[0] = (msg->payload+sizeof(uint64_t))[3];
shimniok 0:826c6171fc1b 131 return (float)r.f;
shimniok 0:826c6171fc1b 132 }
shimniok 0:826c6171fc1b 133
shimniok 0:826c6171fc1b 134 /**
shimniok 0:826c6171fc1b 135 * @brief Get field y from vision_speed_estimate message
shimniok 0:826c6171fc1b 136 *
shimniok 0:826c6171fc1b 137 * @return Global Y speed
shimniok 0:826c6171fc1b 138 */
shimniok 0:826c6171fc1b 139 static inline float mavlink_msg_vision_speed_estimate_get_y(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 140 {
shimniok 0:826c6171fc1b 141 generic_32bit r;
shimniok 0:826c6171fc1b 142 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
shimniok 0:826c6171fc1b 143 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
shimniok 0:826c6171fc1b 144 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
shimniok 0:826c6171fc1b 145 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
shimniok 0:826c6171fc1b 146 return (float)r.f;
shimniok 0:826c6171fc1b 147 }
shimniok 0:826c6171fc1b 148
shimniok 0:826c6171fc1b 149 /**
shimniok 0:826c6171fc1b 150 * @brief Get field z from vision_speed_estimate message
shimniok 0:826c6171fc1b 151 *
shimniok 0:826c6171fc1b 152 * @return Global Z speed
shimniok 0:826c6171fc1b 153 */
shimniok 0:826c6171fc1b 154 static inline float mavlink_msg_vision_speed_estimate_get_z(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 155 {
shimniok 0:826c6171fc1b 156 generic_32bit r;
shimniok 0:826c6171fc1b 157 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:826c6171fc1b 158 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:826c6171fc1b 159 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:826c6171fc1b 160 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:826c6171fc1b 161 return (float)r.f;
shimniok 0:826c6171fc1b 162 }
shimniok 0:826c6171fc1b 163
shimniok 0:826c6171fc1b 164 /**
shimniok 0:826c6171fc1b 165 * @brief Decode a vision_speed_estimate message into a struct
shimniok 0:826c6171fc1b 166 *
shimniok 0:826c6171fc1b 167 * @param msg The message to decode
shimniok 0:826c6171fc1b 168 * @param vision_speed_estimate C-struct to decode the message contents into
shimniok 0:826c6171fc1b 169 */
shimniok 0:826c6171fc1b 170 static inline void mavlink_msg_vision_speed_estimate_decode(const mavlink_message_t* msg, mavlink_vision_speed_estimate_t* vision_speed_estimate)
shimniok 0:826c6171fc1b 171 {
shimniok 0:826c6171fc1b 172 vision_speed_estimate->usec = mavlink_msg_vision_speed_estimate_get_usec(msg);
shimniok 0:826c6171fc1b 173 vision_speed_estimate->x = mavlink_msg_vision_speed_estimate_get_x(msg);
shimniok 0:826c6171fc1b 174 vision_speed_estimate->y = mavlink_msg_vision_speed_estimate_get_y(msg);
shimniok 0:826c6171fc1b 175 vision_speed_estimate->z = mavlink_msg_vision_speed_estimate_get_z(msg);
shimniok 0:826c6171fc1b 176 }