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_local_position_setpoint_set.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 LOCAL_POSITION_SETPOINT_SET PACKING |
shimniok | 0:826c6171fc1b | 2 | |
shimniok | 0:826c6171fc1b | 3 | #define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET 50 |
shimniok | 0:826c6171fc1b | 4 | |
shimniok | 0:826c6171fc1b | 5 | typedef struct __mavlink_local_position_setpoint_set_t |
shimniok | 0:826c6171fc1b | 6 | { |
shimniok | 0:826c6171fc1b | 7 | uint8_t target_system; ///< System ID |
shimniok | 0:826c6171fc1b | 8 | uint8_t target_component; ///< Component ID |
shimniok | 0:826c6171fc1b | 9 | float x; ///< x position |
shimniok | 0:826c6171fc1b | 10 | float y; ///< y position |
shimniok | 0:826c6171fc1b | 11 | float z; ///< z position |
shimniok | 0:826c6171fc1b | 12 | float yaw; ///< Desired yaw angle |
shimniok | 0:826c6171fc1b | 13 | |
shimniok | 0:826c6171fc1b | 14 | } mavlink_local_position_setpoint_set_t; |
shimniok | 0:826c6171fc1b | 15 | |
shimniok | 0:826c6171fc1b | 16 | |
shimniok | 0:826c6171fc1b | 17 | |
shimniok | 0:826c6171fc1b | 18 | /** |
shimniok | 0:826c6171fc1b | 19 | * @brief Pack a local_position_setpoint_set message |
shimniok | 0:826c6171fc1b | 20 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 21 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 22 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 23 | * |
shimniok | 0:826c6171fc1b | 24 | * @param target_system System ID |
shimniok | 0:826c6171fc1b | 25 | * @param target_component Component ID |
shimniok | 0:826c6171fc1b | 26 | * @param x x position |
shimniok | 0:826c6171fc1b | 27 | * @param y y position |
shimniok | 0:826c6171fc1b | 28 | * @param z z position |
shimniok | 0:826c6171fc1b | 29 | * @param yaw Desired yaw angle |
shimniok | 0:826c6171fc1b | 30 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:826c6171fc1b | 31 | */ |
shimniok | 0:826c6171fc1b | 32 | static inline uint16_t mavlink_msg_local_position_setpoint_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw) |
shimniok | 0:826c6171fc1b | 33 | { |
shimniok | 0:826c6171fc1b | 34 | uint16_t i = 0; |
shimniok | 0:826c6171fc1b | 35 | msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET; |
shimniok | 0:826c6171fc1b | 36 | |
shimniok | 0:826c6171fc1b | 37 | i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID |
shimniok | 0:826c6171fc1b | 38 | i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID |
shimniok | 0:826c6171fc1b | 39 | i += put_float_by_index(x, i, msg->payload); // x position |
shimniok | 0:826c6171fc1b | 40 | i += put_float_by_index(y, i, msg->payload); // y position |
shimniok | 0:826c6171fc1b | 41 | i += put_float_by_index(z, i, msg->payload); // z position |
shimniok | 0:826c6171fc1b | 42 | i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle |
shimniok | 0:826c6171fc1b | 43 | |
shimniok | 0:826c6171fc1b | 44 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:826c6171fc1b | 45 | } |
shimniok | 0:826c6171fc1b | 46 | |
shimniok | 0:826c6171fc1b | 47 | /** |
shimniok | 0:826c6171fc1b | 48 | * @brief Pack a local_position_setpoint_set message |
shimniok | 0:826c6171fc1b | 49 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 50 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 51 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:826c6171fc1b | 52 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 53 | * @param target_system System ID |
shimniok | 0:826c6171fc1b | 54 | * @param target_component Component ID |
shimniok | 0:826c6171fc1b | 55 | * @param x x position |
shimniok | 0:826c6171fc1b | 56 | * @param y y position |
shimniok | 0:826c6171fc1b | 57 | * @param z z position |
shimniok | 0:826c6171fc1b | 58 | * @param yaw Desired yaw angle |
shimniok | 0:826c6171fc1b | 59 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:826c6171fc1b | 60 | */ |
shimniok | 0:826c6171fc1b | 61 | static inline uint16_t mavlink_msg_local_position_setpoint_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw) |
shimniok | 0:826c6171fc1b | 62 | { |
shimniok | 0:826c6171fc1b | 63 | uint16_t i = 0; |
shimniok | 0:826c6171fc1b | 64 | msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET; |
shimniok | 0:826c6171fc1b | 65 | |
shimniok | 0:826c6171fc1b | 66 | i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID |
shimniok | 0:826c6171fc1b | 67 | i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID |
shimniok | 0:826c6171fc1b | 68 | i += put_float_by_index(x, i, msg->payload); // x position |
shimniok | 0:826c6171fc1b | 69 | i += put_float_by_index(y, i, msg->payload); // y position |
shimniok | 0:826c6171fc1b | 70 | i += put_float_by_index(z, i, msg->payload); // z position |
shimniok | 0:826c6171fc1b | 71 | i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle |
shimniok | 0:826c6171fc1b | 72 | |
shimniok | 0:826c6171fc1b | 73 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:826c6171fc1b | 74 | } |
shimniok | 0:826c6171fc1b | 75 | |
shimniok | 0:826c6171fc1b | 76 | /** |
shimniok | 0:826c6171fc1b | 77 | * @brief Encode a local_position_setpoint_set struct into a message |
shimniok | 0:826c6171fc1b | 78 | * |
shimniok | 0:826c6171fc1b | 79 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 80 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 81 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 82 | * @param local_position_setpoint_set C-struct to read the message contents from |
shimniok | 0:826c6171fc1b | 83 | */ |
shimniok | 0:826c6171fc1b | 84 | static inline uint16_t mavlink_msg_local_position_setpoint_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_setpoint_set_t* local_position_setpoint_set) |
shimniok | 0:826c6171fc1b | 85 | { |
shimniok | 0:826c6171fc1b | 86 | return mavlink_msg_local_position_setpoint_set_pack(system_id, component_id, msg, local_position_setpoint_set->target_system, local_position_setpoint_set->target_component, local_position_setpoint_set->x, local_position_setpoint_set->y, local_position_setpoint_set->z, local_position_setpoint_set->yaw); |
shimniok | 0:826c6171fc1b | 87 | } |
shimniok | 0:826c6171fc1b | 88 | |
shimniok | 0:826c6171fc1b | 89 | /** |
shimniok | 0:826c6171fc1b | 90 | * @brief Send a local_position_setpoint_set message |
shimniok | 0:826c6171fc1b | 91 | * @param chan MAVLink channel to send the message |
shimniok | 0:826c6171fc1b | 92 | * |
shimniok | 0:826c6171fc1b | 93 | * @param target_system System ID |
shimniok | 0:826c6171fc1b | 94 | * @param target_component Component ID |
shimniok | 0:826c6171fc1b | 95 | * @param x x position |
shimniok | 0:826c6171fc1b | 96 | * @param y y position |
shimniok | 0:826c6171fc1b | 97 | * @param z z position |
shimniok | 0:826c6171fc1b | 98 | * @param yaw Desired yaw angle |
shimniok | 0:826c6171fc1b | 99 | */ |
shimniok | 0:826c6171fc1b | 100 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:826c6171fc1b | 101 | |
shimniok | 0:826c6171fc1b | 102 | static inline void mavlink_msg_local_position_setpoint_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw) |
shimniok | 0:826c6171fc1b | 103 | { |
shimniok | 0:826c6171fc1b | 104 | mavlink_message_t msg; |
shimniok | 0:826c6171fc1b | 105 | mavlink_msg_local_position_setpoint_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, x, y, z, yaw); |
shimniok | 0:826c6171fc1b | 106 | mavlink_send_uart(chan, &msg); |
shimniok | 0:826c6171fc1b | 107 | } |
shimniok | 0:826c6171fc1b | 108 | |
shimniok | 0:826c6171fc1b | 109 | #endif |
shimniok | 0:826c6171fc1b | 110 | // MESSAGE LOCAL_POSITION_SETPOINT_SET UNPACKING |
shimniok | 0:826c6171fc1b | 111 | |
shimniok | 0:826c6171fc1b | 112 | /** |
shimniok | 0:826c6171fc1b | 113 | * @brief Get field target_system from local_position_setpoint_set message |
shimniok | 0:826c6171fc1b | 114 | * |
shimniok | 0:826c6171fc1b | 115 | * @return System ID |
shimniok | 0:826c6171fc1b | 116 | */ |
shimniok | 0:826c6171fc1b | 117 | static inline uint8_t mavlink_msg_local_position_setpoint_set_get_target_system(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 118 | { |
shimniok | 0:826c6171fc1b | 119 | return (uint8_t)(msg->payload)[0]; |
shimniok | 0:826c6171fc1b | 120 | } |
shimniok | 0:826c6171fc1b | 121 | |
shimniok | 0:826c6171fc1b | 122 | /** |
shimniok | 0:826c6171fc1b | 123 | * @brief Get field target_component from local_position_setpoint_set message |
shimniok | 0:826c6171fc1b | 124 | * |
shimniok | 0:826c6171fc1b | 125 | * @return Component ID |
shimniok | 0:826c6171fc1b | 126 | */ |
shimniok | 0:826c6171fc1b | 127 | static inline uint8_t mavlink_msg_local_position_setpoint_set_get_target_component(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 128 | { |
shimniok | 0:826c6171fc1b | 129 | return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; |
shimniok | 0:826c6171fc1b | 130 | } |
shimniok | 0:826c6171fc1b | 131 | |
shimniok | 0:826c6171fc1b | 132 | /** |
shimniok | 0:826c6171fc1b | 133 | * @brief Get field x from local_position_setpoint_set message |
shimniok | 0:826c6171fc1b | 134 | * |
shimniok | 0:826c6171fc1b | 135 | * @return x position |
shimniok | 0:826c6171fc1b | 136 | */ |
shimniok | 0:826c6171fc1b | 137 | static inline float mavlink_msg_local_position_setpoint_set_get_x(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 138 | { |
shimniok | 0:826c6171fc1b | 139 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 140 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:826c6171fc1b | 141 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; |
shimniok | 0:826c6171fc1b | 142 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2]; |
shimniok | 0:826c6171fc1b | 143 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3]; |
shimniok | 0:826c6171fc1b | 144 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 145 | } |
shimniok | 0:826c6171fc1b | 146 | |
shimniok | 0:826c6171fc1b | 147 | /** |
shimniok | 0:826c6171fc1b | 148 | * @brief Get field y from local_position_setpoint_set message |
shimniok | 0:826c6171fc1b | 149 | * |
shimniok | 0:826c6171fc1b | 150 | * @return y position |
shimniok | 0:826c6171fc1b | 151 | */ |
shimniok | 0:826c6171fc1b | 152 | static inline float mavlink_msg_local_position_setpoint_set_get_y(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 153 | { |
shimniok | 0:826c6171fc1b | 154 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 155 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0]; |
shimniok | 0:826c6171fc1b | 156 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1]; |
shimniok | 0:826c6171fc1b | 157 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2]; |
shimniok | 0:826c6171fc1b | 158 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3]; |
shimniok | 0:826c6171fc1b | 159 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 160 | } |
shimniok | 0:826c6171fc1b | 161 | |
shimniok | 0:826c6171fc1b | 162 | /** |
shimniok | 0:826c6171fc1b | 163 | * @brief Get field z from local_position_setpoint_set message |
shimniok | 0:826c6171fc1b | 164 | * |
shimniok | 0:826c6171fc1b | 165 | * @return z position |
shimniok | 0:826c6171fc1b | 166 | */ |
shimniok | 0:826c6171fc1b | 167 | static inline float mavlink_msg_local_position_setpoint_set_get_z(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 168 | { |
shimniok | 0:826c6171fc1b | 169 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 170 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:826c6171fc1b | 171 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:826c6171fc1b | 172 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:826c6171fc1b | 173 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:826c6171fc1b | 174 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 175 | } |
shimniok | 0:826c6171fc1b | 176 | |
shimniok | 0:826c6171fc1b | 177 | /** |
shimniok | 0:826c6171fc1b | 178 | * @brief Get field yaw from local_position_setpoint_set message |
shimniok | 0:826c6171fc1b | 179 | * |
shimniok | 0:826c6171fc1b | 180 | * @return Desired yaw angle |
shimniok | 0:826c6171fc1b | 181 | */ |
shimniok | 0:826c6171fc1b | 182 | static inline float mavlink_msg_local_position_setpoint_set_get_yaw(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 183 | { |
shimniok | 0:826c6171fc1b | 184 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 185 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:826c6171fc1b | 186 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:826c6171fc1b | 187 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:826c6171fc1b | 188 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:826c6171fc1b | 189 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 190 | } |
shimniok | 0:826c6171fc1b | 191 | |
shimniok | 0:826c6171fc1b | 192 | /** |
shimniok | 0:826c6171fc1b | 193 | * @brief Decode a local_position_setpoint_set message into a struct |
shimniok | 0:826c6171fc1b | 194 | * |
shimniok | 0:826c6171fc1b | 195 | * @param msg The message to decode |
shimniok | 0:826c6171fc1b | 196 | * @param local_position_setpoint_set C-struct to decode the message contents into |
shimniok | 0:826c6171fc1b | 197 | */ |
shimniok | 0:826c6171fc1b | 198 | static inline void mavlink_msg_local_position_setpoint_set_decode(const mavlink_message_t* msg, mavlink_local_position_setpoint_set_t* local_position_setpoint_set) |
shimniok | 0:826c6171fc1b | 199 | { |
shimniok | 0:826c6171fc1b | 200 | local_position_setpoint_set->target_system = mavlink_msg_local_position_setpoint_set_get_target_system(msg); |
shimniok | 0:826c6171fc1b | 201 | local_position_setpoint_set->target_component = mavlink_msg_local_position_setpoint_set_get_target_component(msg); |
shimniok | 0:826c6171fc1b | 202 | local_position_setpoint_set->x = mavlink_msg_local_position_setpoint_set_get_x(msg); |
shimniok | 0:826c6171fc1b | 203 | local_position_setpoint_set->y = mavlink_msg_local_position_setpoint_set_get_y(msg); |
shimniok | 0:826c6171fc1b | 204 | local_position_setpoint_set->z = mavlink_msg_local_position_setpoint_set_get_z(msg); |
shimniok | 0:826c6171fc1b | 205 | local_position_setpoint_set->yaw = mavlink_msg_local_position_setpoint_set_get_yaw(msg); |
shimniok | 0:826c6171fc1b | 206 | } |