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_waypoint_reached.h
00001 // MESSAGE WAYPOINT_REACHED PACKING 00002 00003 #define MAVLINK_MSG_ID_WAYPOINT_REACHED 46 00004 00005 typedef struct __mavlink_waypoint_reached_t 00006 { 00007 uint16_t seq; ///< Sequence 00008 00009 } mavlink_waypoint_reached_t; 00010 00011 00012 00013 /** 00014 * @brief Pack a waypoint_reached message 00015 * @param system_id ID of this system 00016 * @param component_id ID of this component (e.g. 200 for IMU) 00017 * @param msg The MAVLink message to compress the data into 00018 * 00019 * @param seq Sequence 00020 * @return length of the message in bytes (excluding serial stream start sign) 00021 */ 00022 static inline uint16_t mavlink_msg_waypoint_reached_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t seq) 00023 { 00024 uint16_t i = 0; 00025 msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REACHED; 00026 00027 i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence 00028 00029 return mavlink_finalize_message(msg, system_id, component_id, i); 00030 } 00031 00032 /** 00033 * @brief Pack a waypoint_reached message 00034 * @param system_id ID of this system 00035 * @param component_id ID of this component (e.g. 200 for IMU) 00036 * @param chan The MAVLink channel this message was sent over 00037 * @param msg The MAVLink message to compress the data into 00038 * @param seq Sequence 00039 * @return length of the message in bytes (excluding serial stream start sign) 00040 */ 00041 static inline uint16_t mavlink_msg_waypoint_reached_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t seq) 00042 { 00043 uint16_t i = 0; 00044 msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REACHED; 00045 00046 i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence 00047 00048 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); 00049 } 00050 00051 /** 00052 * @brief Encode a waypoint_reached struct into a message 00053 * 00054 * @param system_id ID of this system 00055 * @param component_id ID of this component (e.g. 200 for IMU) 00056 * @param msg The MAVLink message to compress the data into 00057 * @param waypoint_reached C-struct to read the message contents from 00058 */ 00059 static inline uint16_t mavlink_msg_waypoint_reached_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_reached_t* waypoint_reached) 00060 { 00061 return mavlink_msg_waypoint_reached_pack(system_id, component_id, msg, waypoint_reached->seq); 00062 } 00063 00064 /** 00065 * @brief Send a waypoint_reached message 00066 * @param chan MAVLink channel to send the message 00067 * 00068 * @param seq Sequence 00069 */ 00070 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 00071 00072 static inline void mavlink_msg_waypoint_reached_send(mavlink_channel_t chan, uint16_t seq) 00073 { 00074 mavlink_message_t msg; 00075 mavlink_msg_waypoint_reached_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seq); 00076 mavlink_send_uart(chan, &msg); 00077 } 00078 00079 #endif 00080 // MESSAGE WAYPOINT_REACHED UNPACKING 00081 00082 /** 00083 * @brief Get field seq from waypoint_reached message 00084 * 00085 * @return Sequence 00086 */ 00087 static inline uint16_t mavlink_msg_waypoint_reached_get_seq(const mavlink_message_t* msg) 00088 { 00089 generic_16bit r; 00090 r.b[1] = (msg->payload)[0]; 00091 r.b[0] = (msg->payload)[1]; 00092 return (uint16_t)r.s; 00093 } 00094 00095 /** 00096 * @brief Decode a waypoint_reached message into a struct 00097 * 00098 * @param msg The message to decode 00099 * @param waypoint_reached C-struct to decode the message contents into 00100 */ 00101 static inline void mavlink_msg_waypoint_reached_decode(const mavlink_message_t* msg, mavlink_waypoint_reached_t* waypoint_reached) 00102 { 00103 waypoint_reached->seq = mavlink_msg_waypoint_reached_get_seq(msg); 00104 }
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