Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
mavlink_msg_attitude.h
00001 // MESSAGE ATTITUDE PACKING 00002 00003 #define MAVLINK_MSG_ID_ATTITUDE 30 00004 00005 typedef struct __mavlink_attitude_t 00006 { 00007 uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) 00008 float roll; ///< Roll angle (rad) 00009 float pitch; ///< Pitch angle (rad) 00010 float yaw; ///< Yaw angle (rad) 00011 float rollspeed; ///< Roll angular speed (rad/s) 00012 float pitchspeed; ///< Pitch angular speed (rad/s) 00013 float yawspeed; ///< Yaw angular speed (rad/s) 00014 00015 } mavlink_attitude_t; 00016 00017 00018 00019 /** 00020 * @brief Pack a attitude message 00021 * @param system_id ID of this system 00022 * @param component_id ID of this component (e.g. 200 for IMU) 00023 * @param msg The MAVLink message to compress the data into 00024 * 00025 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) 00026 * @param roll Roll angle (rad) 00027 * @param pitch Pitch angle (rad) 00028 * @param yaw Yaw angle (rad) 00029 * @param rollspeed Roll angular speed (rad/s) 00030 * @param pitchspeed Pitch angular speed (rad/s) 00031 * @param yawspeed Yaw angular speed (rad/s) 00032 * @return length of the message in bytes (excluding serial stream start sign) 00033 */ 00034 static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) 00035 { 00036 uint16_t i = 0; 00037 msg->msgid = MAVLINK_MSG_ID_ATTITUDE; 00038 00039 i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) 00040 i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad) 00041 i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad) 00042 i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad) 00043 i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s) 00044 i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s) 00045 i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s) 00046 00047 return mavlink_finalize_message(msg, system_id, component_id, i); 00048 } 00049 00050 /** 00051 * @brief Pack a attitude message 00052 * @param system_id ID of this system 00053 * @param component_id ID of this component (e.g. 200 for IMU) 00054 * @param chan The MAVLink channel this message was sent over 00055 * @param msg The MAVLink message to compress the data into 00056 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) 00057 * @param roll Roll angle (rad) 00058 * @param pitch Pitch angle (rad) 00059 * @param yaw Yaw angle (rad) 00060 * @param rollspeed Roll angular speed (rad/s) 00061 * @param pitchspeed Pitch angular speed (rad/s) 00062 * @param yawspeed Yaw angular speed (rad/s) 00063 * @return length of the message in bytes (excluding serial stream start sign) 00064 */ 00065 static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) 00066 { 00067 uint16_t i = 0; 00068 msg->msgid = MAVLINK_MSG_ID_ATTITUDE; 00069 00070 i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) 00071 i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad) 00072 i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad) 00073 i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad) 00074 i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s) 00075 i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s) 00076 i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s) 00077 00078 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); 00079 } 00080 00081 /** 00082 * @brief Encode a attitude struct into a message 00083 * 00084 * @param system_id ID of this system 00085 * @param component_id ID of this component (e.g. 200 for IMU) 00086 * @param msg The MAVLink message to compress the data into 00087 * @param attitude C-struct to read the message contents from 00088 */ 00089 static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude) 00090 { 00091 return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->usec, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed); 00092 } 00093 00094 /** 00095 * @brief Send a attitude message 00096 * @param chan MAVLink channel to send the message 00097 * 00098 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) 00099 * @param roll Roll angle (rad) 00100 * @param pitch Pitch angle (rad) 00101 * @param yaw Yaw angle (rad) 00102 * @param rollspeed Roll angular speed (rad/s) 00103 * @param pitchspeed Pitch angular speed (rad/s) 00104 * @param yawspeed Yaw angular speed (rad/s) 00105 */ 00106 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 00107 00108 static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) 00109 { 00110 mavlink_message_t msg; 00111 mavlink_msg_attitude_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed); 00112 mavlink_send_uart(chan, &msg); 00113 } 00114 00115 #endif 00116 // MESSAGE ATTITUDE UNPACKING 00117 00118 /** 00119 * @brief Get field usec from attitude message 00120 * 00121 * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) 00122 */ 00123 static inline uint64_t mavlink_msg_attitude_get_usec(const mavlink_message_t* msg) 00124 { 00125 generic_64bit r; 00126 r.b[7] = (msg->payload)[0]; 00127 r.b[6] = (msg->payload)[1]; 00128 r.b[5] = (msg->payload)[2]; 00129 r.b[4] = (msg->payload)[3]; 00130 r.b[3] = (msg->payload)[4]; 00131 r.b[2] = (msg->payload)[5]; 00132 r.b[1] = (msg->payload)[6]; 00133 r.b[0] = (msg->payload)[7]; 00134 return (uint64_t)r.ll; 00135 } 00136 00137 /** 00138 * @brief Get field roll from attitude message 00139 * 00140 * @return Roll angle (rad) 00141 */ 00142 static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg) 00143 { 00144 generic_32bit r; 00145 r.b[3] = (msg->payload+sizeof(uint64_t))[0]; 00146 r.b[2] = (msg->payload+sizeof(uint64_t))[1]; 00147 r.b[1] = (msg->payload+sizeof(uint64_t))[2]; 00148 r.b[0] = (msg->payload+sizeof(uint64_t))[3]; 00149 return (float)r.f; 00150 } 00151 00152 /** 00153 * @brief Get field pitch from attitude message 00154 * 00155 * @return Pitch angle (rad) 00156 */ 00157 static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg) 00158 { 00159 generic_32bit r; 00160 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; 00161 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; 00162 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; 00163 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; 00164 return (float)r.f; 00165 } 00166 00167 /** 00168 * @brief Get field yaw from attitude message 00169 * 00170 * @return Yaw angle (rad) 00171 */ 00172 static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg) 00173 { 00174 generic_32bit r; 00175 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; 00176 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; 00177 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; 00178 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; 00179 return (float)r.f; 00180 } 00181 00182 /** 00183 * @brief Get field rollspeed from attitude message 00184 * 00185 * @return Roll angular speed (rad/s) 00186 */ 00187 static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg) 00188 { 00189 generic_32bit r; 00190 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; 00191 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; 00192 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; 00193 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; 00194 return (float)r.f; 00195 } 00196 00197 /** 00198 * @brief Get field pitchspeed from attitude message 00199 * 00200 * @return Pitch angular speed (rad/s) 00201 */ 00202 static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg) 00203 { 00204 generic_32bit r; 00205 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; 00206 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; 00207 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; 00208 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; 00209 return (float)r.f; 00210 } 00211 00212 /** 00213 * @brief Get field yawspeed from attitude message 00214 * 00215 * @return Yaw angular speed (rad/s) 00216 */ 00217 static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg) 00218 { 00219 generic_32bit r; 00220 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; 00221 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; 00222 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; 00223 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; 00224 return (float)r.f; 00225 } 00226 00227 /** 00228 * @brief Decode a attitude message into a struct 00229 * 00230 * @param msg The message to decode 00231 * @param attitude C-struct to decode the message contents into 00232 */ 00233 static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude) 00234 { 00235 attitude->usec = mavlink_msg_attitude_get_usec(msg); 00236 attitude->roll = mavlink_msg_attitude_get_roll(msg); 00237 attitude->pitch = mavlink_msg_attitude_get_pitch(msg); 00238 attitude->yaw = mavlink_msg_attitude_get_yaw(msg); 00239 attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg); 00240 attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg); 00241 attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg); 00242 }
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