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_global_position_int.h
00001 // MESSAGE GLOBAL_POSITION_INT PACKING 00002 00003 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 73 00004 00005 typedef struct __mavlink_global_position_int_t 00006 { 00007 int32_t lat; ///< Latitude, expressed as * 1E7 00008 int32_t lon; ///< Longitude, expressed as * 1E7 00009 int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters) 00010 int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100 00011 int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100 00012 int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100 00013 00014 } mavlink_global_position_int_t; 00015 00016 00017 00018 /** 00019 * @brief Pack a global_position_int message 00020 * @param system_id ID of this system 00021 * @param component_id ID of this component (e.g. 200 for IMU) 00022 * @param msg The MAVLink message to compress the data into 00023 * 00024 * @param lat Latitude, expressed as * 1E7 00025 * @param lon Longitude, expressed as * 1E7 00026 * @param alt Altitude in meters, expressed as * 1000 (millimeters) 00027 * @param vx Ground X Speed (Latitude), expressed as m/s * 100 00028 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 00029 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 00030 * @return length of the message in bytes (excluding serial stream start sign) 00031 */ 00032 static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz) 00033 { 00034 uint16_t i = 0; 00035 msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; 00036 00037 i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7 00038 i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7 00039 i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters) 00040 i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100 00041 i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100 00042 i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100 00043 00044 return mavlink_finalize_message(msg, system_id, component_id, i); 00045 } 00046 00047 /** 00048 * @brief Pack a global_position_int message 00049 * @param system_id ID of this system 00050 * @param component_id ID of this component (e.g. 200 for IMU) 00051 * @param chan The MAVLink channel this message was sent over 00052 * @param msg The MAVLink message to compress the data into 00053 * @param lat Latitude, expressed as * 1E7 00054 * @param lon Longitude, expressed as * 1E7 00055 * @param alt Altitude in meters, expressed as * 1000 (millimeters) 00056 * @param vx Ground X Speed (Latitude), expressed as m/s * 100 00057 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 00058 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 00059 * @return length of the message in bytes (excluding serial stream start sign) 00060 */ 00061 static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz) 00062 { 00063 uint16_t i = 0; 00064 msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; 00065 00066 i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7 00067 i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7 00068 i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters) 00069 i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100 00070 i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100 00071 i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100 00072 00073 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); 00074 } 00075 00076 /** 00077 * @brief Encode a global_position_int struct into a message 00078 * 00079 * @param system_id ID of this system 00080 * @param component_id ID of this component (e.g. 200 for IMU) 00081 * @param msg The MAVLink message to compress the data into 00082 * @param global_position_int C-struct to read the message contents from 00083 */ 00084 static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int) 00085 { 00086 return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->vx, global_position_int->vy, global_position_int->vz); 00087 } 00088 00089 /** 00090 * @brief Send a global_position_int message 00091 * @param chan MAVLink channel to send the message 00092 * 00093 * @param lat Latitude, expressed as * 1E7 00094 * @param lon Longitude, expressed as * 1E7 00095 * @param alt Altitude in meters, expressed as * 1000 (millimeters) 00096 * @param vx Ground X Speed (Latitude), expressed as m/s * 100 00097 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 00098 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 00099 */ 00100 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 00101 00102 static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz) 00103 { 00104 mavlink_message_t msg; 00105 mavlink_msg_global_position_int_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, lat, lon, alt, vx, vy, vz); 00106 mavlink_send_uart(chan, &msg); 00107 } 00108 00109 #endif 00110 // MESSAGE GLOBAL_POSITION_INT UNPACKING 00111 00112 /** 00113 * @brief Get field lat from global_position_int message 00114 * 00115 * @return Latitude, expressed as * 1E7 00116 */ 00117 static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg) 00118 { 00119 generic_32bit r; 00120 r.b[3] = (msg->payload)[0]; 00121 r.b[2] = (msg->payload)[1]; 00122 r.b[1] = (msg->payload)[2]; 00123 r.b[0] = (msg->payload)[3]; 00124 return (int32_t)r.i; 00125 } 00126 00127 /** 00128 * @brief Get field lon from global_position_int message 00129 * 00130 * @return Longitude, expressed as * 1E7 00131 */ 00132 static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg) 00133 { 00134 generic_32bit r; 00135 r.b[3] = (msg->payload+sizeof(int32_t))[0]; 00136 r.b[2] = (msg->payload+sizeof(int32_t))[1]; 00137 r.b[1] = (msg->payload+sizeof(int32_t))[2]; 00138 r.b[0] = (msg->payload+sizeof(int32_t))[3]; 00139 return (int32_t)r.i; 00140 } 00141 00142 /** 00143 * @brief Get field alt from global_position_int message 00144 * 00145 * @return Altitude in meters, expressed as * 1000 (millimeters) 00146 */ 00147 static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg) 00148 { 00149 generic_32bit r; 00150 r.b[3] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[0]; 00151 r.b[2] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[1]; 00152 r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[2]; 00153 r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[3]; 00154 return (int32_t)r.i; 00155 } 00156 00157 /** 00158 * @brief Get field vx from global_position_int message 00159 * 00160 * @return Ground X Speed (Latitude), expressed as m/s * 100 00161 */ 00162 static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg) 00163 { 00164 generic_16bit r; 00165 r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[0]; 00166 r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[1]; 00167 return (int16_t)r.s; 00168 } 00169 00170 /** 00171 * @brief Get field vy from global_position_int message 00172 * 00173 * @return Ground Y Speed (Longitude), expressed as m/s * 100 00174 */ 00175 static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg) 00176 { 00177 generic_16bit r; 00178 r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[0]; 00179 r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[1]; 00180 return (int16_t)r.s; 00181 } 00182 00183 /** 00184 * @brief Get field vz from global_position_int message 00185 * 00186 * @return Ground Z Speed (Altitude), expressed as m/s * 100 00187 */ 00188 static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg) 00189 { 00190 generic_16bit r; 00191 r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[0]; 00192 r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[1]; 00193 return (int16_t)r.s; 00194 } 00195 00196 /** 00197 * @brief Decode a global_position_int message into a struct 00198 * 00199 * @param msg The message to decode 00200 * @param global_position_int C-struct to decode the message contents into 00201 */ 00202 static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int) 00203 { 00204 global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg); 00205 global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg); 00206 global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg); 00207 global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg); 00208 global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg); 00209 global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg); 00210 }
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