Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
MAVlink/include/common/mavlink_msg_command_ack.h@0:826c6171fc1b, 2012-06-20 (annotated)
- Committer:
- shimniok
- Date:
- Wed Jun 20 14:57:48 2012 +0000
- Revision:
- 0:826c6171fc1b
Updated documentation
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:826c6171fc1b | 1 | // MESSAGE COMMAND_ACK PACKING |
shimniok | 0:826c6171fc1b | 2 | |
shimniok | 0:826c6171fc1b | 3 | #define MAVLINK_MSG_ID_COMMAND_ACK 76 |
shimniok | 0:826c6171fc1b | 4 | |
shimniok | 0:826c6171fc1b | 5 | typedef struct __mavlink_command_ack_t |
shimniok | 0:826c6171fc1b | 6 | { |
shimniok | 0:826c6171fc1b | 7 | float command; ///< Current airspeed in m/s |
shimniok | 0:826c6171fc1b | 8 | float result; ///< 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION |
shimniok | 0:826c6171fc1b | 9 | |
shimniok | 0:826c6171fc1b | 10 | } mavlink_command_ack_t; |
shimniok | 0:826c6171fc1b | 11 | |
shimniok | 0:826c6171fc1b | 12 | |
shimniok | 0:826c6171fc1b | 13 | |
shimniok | 0:826c6171fc1b | 14 | /** |
shimniok | 0:826c6171fc1b | 15 | * @brief Pack a command_ack message |
shimniok | 0:826c6171fc1b | 16 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 17 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 18 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 19 | * |
shimniok | 0:826c6171fc1b | 20 | * @param command Current airspeed in m/s |
shimniok | 0:826c6171fc1b | 21 | * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION |
shimniok | 0:826c6171fc1b | 22 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:826c6171fc1b | 23 | */ |
shimniok | 0:826c6171fc1b | 24 | static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float command, float result) |
shimniok | 0:826c6171fc1b | 25 | { |
shimniok | 0:826c6171fc1b | 26 | uint16_t i = 0; |
shimniok | 0:826c6171fc1b | 27 | msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK; |
shimniok | 0:826c6171fc1b | 28 | |
shimniok | 0:826c6171fc1b | 29 | i += put_float_by_index(command, i, msg->payload); // Current airspeed in m/s |
shimniok | 0:826c6171fc1b | 30 | i += put_float_by_index(result, i, msg->payload); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION |
shimniok | 0:826c6171fc1b | 31 | |
shimniok | 0:826c6171fc1b | 32 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:826c6171fc1b | 33 | } |
shimniok | 0:826c6171fc1b | 34 | |
shimniok | 0:826c6171fc1b | 35 | /** |
shimniok | 0:826c6171fc1b | 36 | * @brief Pack a command_ack message |
shimniok | 0:826c6171fc1b | 37 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 38 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 39 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:826c6171fc1b | 40 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 41 | * @param command Current airspeed in m/s |
shimniok | 0:826c6171fc1b | 42 | * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION |
shimniok | 0:826c6171fc1b | 43 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:826c6171fc1b | 44 | */ |
shimniok | 0:826c6171fc1b | 45 | static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float command, float result) |
shimniok | 0:826c6171fc1b | 46 | { |
shimniok | 0:826c6171fc1b | 47 | uint16_t i = 0; |
shimniok | 0:826c6171fc1b | 48 | msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK; |
shimniok | 0:826c6171fc1b | 49 | |
shimniok | 0:826c6171fc1b | 50 | i += put_float_by_index(command, i, msg->payload); // Current airspeed in m/s |
shimniok | 0:826c6171fc1b | 51 | i += put_float_by_index(result, i, msg->payload); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION |
shimniok | 0:826c6171fc1b | 52 | |
shimniok | 0:826c6171fc1b | 53 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:826c6171fc1b | 54 | } |
shimniok | 0:826c6171fc1b | 55 | |
shimniok | 0:826c6171fc1b | 56 | /** |
shimniok | 0:826c6171fc1b | 57 | * @brief Encode a command_ack struct into a message |
shimniok | 0:826c6171fc1b | 58 | * |
shimniok | 0:826c6171fc1b | 59 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 60 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 61 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 62 | * @param command_ack C-struct to read the message contents from |
shimniok | 0:826c6171fc1b | 63 | */ |
shimniok | 0:826c6171fc1b | 64 | static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack) |
shimniok | 0:826c6171fc1b | 65 | { |
shimniok | 0:826c6171fc1b | 66 | return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result); |
shimniok | 0:826c6171fc1b | 67 | } |
shimniok | 0:826c6171fc1b | 68 | |
shimniok | 0:826c6171fc1b | 69 | /** |
shimniok | 0:826c6171fc1b | 70 | * @brief Send a command_ack message |
shimniok | 0:826c6171fc1b | 71 | * @param chan MAVLink channel to send the message |
shimniok | 0:826c6171fc1b | 72 | * |
shimniok | 0:826c6171fc1b | 73 | * @param command Current airspeed in m/s |
shimniok | 0:826c6171fc1b | 74 | * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION |
shimniok | 0:826c6171fc1b | 75 | */ |
shimniok | 0:826c6171fc1b | 76 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:826c6171fc1b | 77 | |
shimniok | 0:826c6171fc1b | 78 | static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float command, float result) |
shimniok | 0:826c6171fc1b | 79 | { |
shimniok | 0:826c6171fc1b | 80 | mavlink_message_t msg; |
shimniok | 0:826c6171fc1b | 81 | mavlink_msg_command_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, command, result); |
shimniok | 0:826c6171fc1b | 82 | mavlink_send_uart(chan, &msg); |
shimniok | 0:826c6171fc1b | 83 | } |
shimniok | 0:826c6171fc1b | 84 | |
shimniok | 0:826c6171fc1b | 85 | #endif |
shimniok | 0:826c6171fc1b | 86 | // MESSAGE COMMAND_ACK UNPACKING |
shimniok | 0:826c6171fc1b | 87 | |
shimniok | 0:826c6171fc1b | 88 | /** |
shimniok | 0:826c6171fc1b | 89 | * @brief Get field command from command_ack message |
shimniok | 0:826c6171fc1b | 90 | * |
shimniok | 0:826c6171fc1b | 91 | * @return Current airspeed in m/s |
shimniok | 0:826c6171fc1b | 92 | */ |
shimniok | 0:826c6171fc1b | 93 | static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 94 | { |
shimniok | 0:826c6171fc1b | 95 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 96 | r.b[3] = (msg->payload)[0]; |
shimniok | 0:826c6171fc1b | 97 | r.b[2] = (msg->payload)[1]; |
shimniok | 0:826c6171fc1b | 98 | r.b[1] = (msg->payload)[2]; |
shimniok | 0:826c6171fc1b | 99 | r.b[0] = (msg->payload)[3]; |
shimniok | 0:826c6171fc1b | 100 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 101 | } |
shimniok | 0:826c6171fc1b | 102 | |
shimniok | 0:826c6171fc1b | 103 | /** |
shimniok | 0:826c6171fc1b | 104 | * @brief Get field result from command_ack message |
shimniok | 0:826c6171fc1b | 105 | * |
shimniok | 0:826c6171fc1b | 106 | * @return 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION |
shimniok | 0:826c6171fc1b | 107 | */ |
shimniok | 0:826c6171fc1b | 108 | static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 109 | { |
shimniok | 0:826c6171fc1b | 110 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 111 | r.b[3] = (msg->payload+sizeof(float))[0]; |
shimniok | 0:826c6171fc1b | 112 | r.b[2] = (msg->payload+sizeof(float))[1]; |
shimniok | 0:826c6171fc1b | 113 | r.b[1] = (msg->payload+sizeof(float))[2]; |
shimniok | 0:826c6171fc1b | 114 | r.b[0] = (msg->payload+sizeof(float))[3]; |
shimniok | 0:826c6171fc1b | 115 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 116 | } |
shimniok | 0:826c6171fc1b | 117 | |
shimniok | 0:826c6171fc1b | 118 | /** |
shimniok | 0:826c6171fc1b | 119 | * @brief Decode a command_ack message into a struct |
shimniok | 0:826c6171fc1b | 120 | * |
shimniok | 0:826c6171fc1b | 121 | * @param msg The message to decode |
shimniok | 0:826c6171fc1b | 122 | * @param command_ack C-struct to decode the message contents into |
shimniok | 0:826c6171fc1b | 123 | */ |
shimniok | 0:826c6171fc1b | 124 | static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack) |
shimniok | 0:826c6171fc1b | 125 | { |
shimniok | 0:826c6171fc1b | 126 | command_ack->command = mavlink_msg_command_ack_get_command(msg); |
shimniok | 0:826c6171fc1b | 127 | command_ack->result = mavlink_msg_command_ack_get_result(msg); |
shimniok | 0:826c6171fc1b | 128 | } |