Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
Diff: MAVlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h
- Revision:
- 0:826c6171fc1b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h Wed Jun 20 14:57:48 2012 +0000 @@ -0,0 +1,176 @@ +// MESSAGE VISION_SPEED_ESTIMATE PACKING + +#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 113 + +typedef struct __mavlink_vision_speed_estimate_t +{ + uint64_t usec; ///< Timestamp (milliseconds) + float x; ///< Global X speed + float y; ///< Global Y speed + float z; ///< Global Z speed + +} mavlink_vision_speed_estimate_t; + + + +/** + * @brief Pack a vision_speed_estimate message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param usec Timestamp (milliseconds) + * @param x Global X speed + * @param y Global Y speed + * @param z Global Z speed + * @return length of the message in bytes (excluding serial stream start sign) + */ +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) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE; + + i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds) + i += put_float_by_index(x, i, msg->payload); // Global X speed + i += put_float_by_index(y, i, msg->payload); // Global Y speed + i += put_float_by_index(z, i, msg->payload); // Global Z speed + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a vision_speed_estimate message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param usec Timestamp (milliseconds) + * @param x Global X speed + * @param y Global Y speed + * @param z Global Z speed + * @return length of the message in bytes (excluding serial stream start sign) + */ +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) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE; + + i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds) + i += put_float_by_index(x, i, msg->payload); // Global X speed + i += put_float_by_index(y, i, msg->payload); // Global Y speed + i += put_float_by_index(z, i, msg->payload); // Global Z speed + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a vision_speed_estimate struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param vision_speed_estimate C-struct to read the message contents from + */ +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) +{ + 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); +} + +/** + * @brief Send a vision_speed_estimate message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (milliseconds) + * @param x Global X speed + * @param y Global Y speed + * @param z Global Z speed + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z) +{ + mavlink_message_t msg; + mavlink_msg_vision_speed_estimate_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE VISION_SPEED_ESTIMATE UNPACKING + +/** + * @brief Get field usec from vision_speed_estimate message + * + * @return Timestamp (milliseconds) + */ +static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_message_t* msg) +{ + generic_64bit r; + r.b[7] = (msg->payload)[0]; + r.b[6] = (msg->payload)[1]; + r.b[5] = (msg->payload)[2]; + r.b[4] = (msg->payload)[3]; + r.b[3] = (msg->payload)[4]; + r.b[2] = (msg->payload)[5]; + r.b[1] = (msg->payload)[6]; + r.b[0] = (msg->payload)[7]; + return (uint64_t)r.ll; +} + +/** + * @brief Get field x from vision_speed_estimate message + * + * @return Global X speed + */ +static inline float mavlink_msg_vision_speed_estimate_get_x(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t))[3]; + return (float)r.f; +} + +/** + * @brief Get field y from vision_speed_estimate message + * + * @return Global Y speed + */ +static inline float mavlink_msg_vision_speed_estimate_get_y(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field z from vision_speed_estimate message + * + * @return Global Z speed + */ +static inline float mavlink_msg_vision_speed_estimate_get_z(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Decode a vision_speed_estimate message into a struct + * + * @param msg The message to decode + * @param vision_speed_estimate C-struct to decode the message contents into + */ +static inline void mavlink_msg_vision_speed_estimate_decode(const mavlink_message_t* msg, mavlink_vision_speed_estimate_t* vision_speed_estimate) +{ + vision_speed_estimate->usec = mavlink_msg_vision_speed_estimate_get_usec(msg); + vision_speed_estimate->x = mavlink_msg_vision_speed_estimate_get_x(msg); + vision_speed_estimate->y = mavlink_msg_vision_speed_estimate_get_y(msg); + vision_speed_estimate->z = mavlink_msg_vision_speed_estimate_get_z(msg); +}