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_roll_pitch_yaw_thrust_setpoint.h
00001 // MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT PACKING 00002 00003 #define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT 57 00004 00005 typedef struct __mavlink_roll_pitch_yaw_thrust_setpoint_t 00006 { 00007 uint64_t time_us; ///< Timestamp in micro seconds since unix epoch 00008 float roll; ///< Desired roll angle in radians 00009 float pitch; ///< Desired pitch angle in radians 00010 float yaw; ///< Desired yaw angle in radians 00011 float thrust; ///< Collective thrust, normalized to 0 .. 1 00012 00013 } mavlink_roll_pitch_yaw_thrust_setpoint_t; 00014 00015 00016 00017 /** 00018 * @brief Pack a roll_pitch_yaw_thrust_setpoint message 00019 * @param system_id ID of this system 00020 * @param component_id ID of this component (e.g. 200 for IMU) 00021 * @param msg The MAVLink message to compress the data into 00022 * 00023 * @param time_us Timestamp in micro seconds since unix epoch 00024 * @param roll Desired roll angle in radians 00025 * @param pitch Desired pitch angle in radians 00026 * @param yaw Desired yaw angle in radians 00027 * @param thrust Collective thrust, normalized to 0 .. 1 00028 * @return length of the message in bytes (excluding serial stream start sign) 00029 */ 00030 static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, float roll, float pitch, float yaw, float thrust) 00031 { 00032 uint16_t i = 0; 00033 msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT; 00034 00035 i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp in micro seconds since unix epoch 00036 i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians 00037 i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians 00038 i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians 00039 i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1 00040 00041 return mavlink_finalize_message(msg, system_id, component_id, i); 00042 } 00043 00044 /** 00045 * @brief Pack a roll_pitch_yaw_thrust_setpoint message 00046 * @param system_id ID of this system 00047 * @param component_id ID of this component (e.g. 200 for IMU) 00048 * @param chan The MAVLink channel this message was sent over 00049 * @param msg The MAVLink message to compress the data into 00050 * @param time_us Timestamp in micro seconds since unix epoch 00051 * @param roll Desired roll angle in radians 00052 * @param pitch Desired pitch angle in radians 00053 * @param yaw Desired yaw angle in radians 00054 * @param thrust Collective thrust, normalized to 0 .. 1 00055 * @return length of the message in bytes (excluding serial stream start sign) 00056 */ 00057 static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_us, float roll, float pitch, float yaw, float thrust) 00058 { 00059 uint16_t i = 0; 00060 msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT; 00061 00062 i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp in micro seconds since unix epoch 00063 i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians 00064 i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians 00065 i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians 00066 i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1 00067 00068 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); 00069 } 00070 00071 /** 00072 * @brief Encode a roll_pitch_yaw_thrust_setpoint struct into a message 00073 * 00074 * @param system_id ID of this system 00075 * @param component_id ID of this component (e.g. 200 for IMU) 00076 * @param msg The MAVLink message to compress the data into 00077 * @param roll_pitch_yaw_thrust_setpoint C-struct to read the message contents from 00078 */ 00079 static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint) 00080 { 00081 return mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_thrust_setpoint->time_us, roll_pitch_yaw_thrust_setpoint->roll, roll_pitch_yaw_thrust_setpoint->pitch, roll_pitch_yaw_thrust_setpoint->yaw, roll_pitch_yaw_thrust_setpoint->thrust); 00082 } 00083 00084 /** 00085 * @brief Send a roll_pitch_yaw_thrust_setpoint message 00086 * @param chan MAVLink channel to send the message 00087 * 00088 * @param time_us Timestamp in micro seconds since unix epoch 00089 * @param roll Desired roll angle in radians 00090 * @param pitch Desired pitch angle in radians 00091 * @param yaw Desired yaw angle in radians 00092 * @param thrust Collective thrust, normalized to 0 .. 1 00093 */ 00094 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 00095 00096 static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(mavlink_channel_t chan, uint64_t time_us, float roll, float pitch, float yaw, float thrust) 00097 { 00098 mavlink_message_t msg; 00099 mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_us, roll, pitch, yaw, thrust); 00100 mavlink_send_uart(chan, &msg); 00101 } 00102 00103 #endif 00104 // MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT UNPACKING 00105 00106 /** 00107 * @brief Get field time_us from roll_pitch_yaw_thrust_setpoint message 00108 * 00109 * @return Timestamp in micro seconds since unix epoch 00110 */ 00111 static inline uint64_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_us(const mavlink_message_t* msg) 00112 { 00113 generic_64bit r; 00114 r.b[7] = (msg->payload)[0]; 00115 r.b[6] = (msg->payload)[1]; 00116 r.b[5] = (msg->payload)[2]; 00117 r.b[4] = (msg->payload)[3]; 00118 r.b[3] = (msg->payload)[4]; 00119 r.b[2] = (msg->payload)[5]; 00120 r.b[1] = (msg->payload)[6]; 00121 r.b[0] = (msg->payload)[7]; 00122 return (uint64_t)r.ll; 00123 } 00124 00125 /** 00126 * @brief Get field roll from roll_pitch_yaw_thrust_setpoint message 00127 * 00128 * @return Desired roll angle in radians 00129 */ 00130 static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(const mavlink_message_t* msg) 00131 { 00132 generic_32bit r; 00133 r.b[3] = (msg->payload+sizeof(uint64_t))[0]; 00134 r.b[2] = (msg->payload+sizeof(uint64_t))[1]; 00135 r.b[1] = (msg->payload+sizeof(uint64_t))[2]; 00136 r.b[0] = (msg->payload+sizeof(uint64_t))[3]; 00137 return (float)r.f; 00138 } 00139 00140 /** 00141 * @brief Get field pitch from roll_pitch_yaw_thrust_setpoint message 00142 * 00143 * @return Desired pitch angle in radians 00144 */ 00145 static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(const mavlink_message_t* msg) 00146 { 00147 generic_32bit r; 00148 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; 00149 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; 00150 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; 00151 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; 00152 return (float)r.f; 00153 } 00154 00155 /** 00156 * @brief Get field yaw from roll_pitch_yaw_thrust_setpoint message 00157 * 00158 * @return Desired yaw angle in radians 00159 */ 00160 static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(const mavlink_message_t* msg) 00161 { 00162 generic_32bit r; 00163 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; 00164 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; 00165 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; 00166 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; 00167 return (float)r.f; 00168 } 00169 00170 /** 00171 * @brief Get field thrust from roll_pitch_yaw_thrust_setpoint message 00172 * 00173 * @return Collective thrust, normalized to 0 .. 1 00174 */ 00175 static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(const mavlink_message_t* msg) 00176 { 00177 generic_32bit r; 00178 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; 00179 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; 00180 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; 00181 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; 00182 return (float)r.f; 00183 } 00184 00185 /** 00186 * @brief Decode a roll_pitch_yaw_thrust_setpoint message into a struct 00187 * 00188 * @param msg The message to decode 00189 * @param roll_pitch_yaw_thrust_setpoint C-struct to decode the message contents into 00190 */ 00191 static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint) 00192 { 00193 roll_pitch_yaw_thrust_setpoint->time_us = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_us(msg); 00194 roll_pitch_yaw_thrust_setpoint->roll = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(msg); 00195 roll_pitch_yaw_thrust_setpoint->pitch = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(msg); 00196 roll_pitch_yaw_thrust_setpoint->yaw = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(msg); 00197 roll_pitch_yaw_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(msg); 00198 }
Generated on Tue Jul 12 2022 14:09:26 by 1.7.2