Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
Diff: MAVlink/include/ardupilotmega/mavlink_msg_set_mag_offsets.h
- Revision:
- 0:826c6171fc1b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/ardupilotmega/mavlink_msg_set_mag_offsets.h Wed Jun 20 14:57:48 2012 +0000 @@ -0,0 +1,178 @@ +// MESSAGE SET_MAG_OFFSETS PACKING + +#define MAVLINK_MSG_ID_SET_MAG_OFFSETS 151 + +typedef struct __mavlink_set_mag_offsets_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + int16_t mag_ofs_x; ///< magnetometer X offset + int16_t mag_ofs_y; ///< magnetometer Y offset + int16_t mag_ofs_z; ///< magnetometer Z offset + +} mavlink_set_mag_offsets_t; + + + +/** + * @brief Pack a set_mag_offsets message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param target_system System ID + * @param target_component Component ID + * @param mag_ofs_x magnetometer X offset + * @param mag_ofs_y magnetometer Y offset + * @param mag_ofs_z magnetometer Z offset + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS; + + i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID + i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID + i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset + i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset + i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a set_mag_offsets message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @param mag_ofs_x magnetometer X offset + * @param mag_ofs_y magnetometer Y offset + * @param mag_ofs_z magnetometer Z offset + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_mag_offsets_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, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS; + + i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID + i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID + i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset + i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset + i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a set_mag_offsets struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param set_mag_offsets C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_set_mag_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mag_offsets_t* set_mag_offsets) +{ + return mavlink_msg_set_mag_offsets_pack(system_id, component_id, msg, set_mag_offsets->target_system, set_mag_offsets->target_component, set_mag_offsets->mag_ofs_x, set_mag_offsets->mag_ofs_y, set_mag_offsets->mag_ofs_z); +} + +/** + * @brief Send a set_mag_offsets message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param mag_ofs_x magnetometer X offset + * @param mag_ofs_y magnetometer Y offset + * @param mag_ofs_z magnetometer Z offset + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_set_mag_offsets_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z) +{ + mavlink_message_t msg; + mavlink_msg_set_mag_offsets_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE SET_MAG_OFFSETS UNPACKING + +/** + * @brief Get field target_system from set_mag_offsets message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_set_mag_offsets_get_target_system(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload)[0]; +} + +/** + * @brief Get field target_component from set_mag_offsets message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_set_mag_offsets_get_target_component(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; +} + +/** + * @brief Get field mag_ofs_x from set_mag_offsets message + * + * @return magnetometer X offset + */ +static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_x(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; + r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; + return (int16_t)r.s; +} + +/** + * @brief Get field mag_ofs_y from set_mag_offsets message + * + * @return magnetometer Y offset + */ +static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_y(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t))[1]; + return (int16_t)r.s; +} + +/** + * @brief Get field mag_ofs_z from set_mag_offsets message + * + * @return magnetometer Z offset + */ +static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_z(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t))[1]; + return (int16_t)r.s; +} + +/** + * @brief Decode a set_mag_offsets message into a struct + * + * @param msg The message to decode + * @param set_mag_offsets C-struct to decode the message contents into + */ +static inline void mavlink_msg_set_mag_offsets_decode(const mavlink_message_t* msg, mavlink_set_mag_offsets_t* set_mag_offsets) +{ + set_mag_offsets->target_system = mavlink_msg_set_mag_offsets_get_target_system(msg); + set_mag_offsets->target_component = mavlink_msg_set_mag_offsets_get_target_component(msg); + set_mag_offsets->mag_ofs_x = mavlink_msg_set_mag_offsets_get_mag_ofs_x(msg); + set_mag_offsets->mag_ofs_y = mavlink_msg_set_mag_offsets_get_mag_ofs_y(msg); + set_mag_offsets->mag_ofs_z = mavlink_msg_set_mag_offsets_get_mag_ofs_z(msg); +}