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/pixhawk/mavlink_msg_marker.h
- Revision:
- 0:826c6171fc1b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/pixhawk/mavlink_msg_marker.h Wed Jun 20 14:57:48 2012 +0000 @@ -0,0 +1,236 @@ +// MESSAGE MARKER PACKING + +#define MAVLINK_MSG_ID_MARKER 130 + +typedef struct __mavlink_marker_t +{ + uint16_t id; ///< ID + float x; ///< x position + float y; ///< y position + float z; ///< z position + float roll; ///< roll orientation + float pitch; ///< pitch orientation + float yaw; ///< yaw orientation + +} mavlink_marker_t; + + + +/** + * @brief Pack a marker 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 id ID + * @param x x position + * @param y y position + * @param z z position + * @param roll roll orientation + * @param pitch pitch orientation + * @param yaw yaw orientation + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_marker_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_MARKER; + + i += put_uint16_t_by_index(id, i, msg->payload); // ID + i += put_float_by_index(x, i, msg->payload); // x position + i += put_float_by_index(y, i, msg->payload); // y position + i += put_float_by_index(z, i, msg->payload); // z position + i += put_float_by_index(roll, i, msg->payload); // roll orientation + i += put_float_by_index(pitch, i, msg->payload); // pitch orientation + i += put_float_by_index(yaw, i, msg->payload); // yaw orientation + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a marker 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 id ID + * @param x x position + * @param y y position + * @param z z position + * @param roll roll orientation + * @param pitch pitch orientation + * @param yaw yaw orientation + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_marker_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_MARKER; + + i += put_uint16_t_by_index(id, i, msg->payload); // ID + i += put_float_by_index(x, i, msg->payload); // x position + i += put_float_by_index(y, i, msg->payload); // y position + i += put_float_by_index(z, i, msg->payload); // z position + i += put_float_by_index(roll, i, msg->payload); // roll orientation + i += put_float_by_index(pitch, i, msg->payload); // pitch orientation + i += put_float_by_index(yaw, i, msg->payload); // yaw orientation + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a marker 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 marker C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_marker_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_marker_t* marker) +{ + return mavlink_msg_marker_pack(system_id, component_id, msg, marker->id, marker->x, marker->y, marker->z, marker->roll, marker->pitch, marker->yaw); +} + +/** + * @brief Send a marker message + * @param chan MAVLink channel to send the message + * + * @param id ID + * @param x x position + * @param y y position + * @param z z position + * @param roll roll orientation + * @param pitch pitch orientation + * @param yaw yaw orientation + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_marker_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw) +{ + mavlink_message_t msg; + mavlink_msg_marker_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, id, x, y, z, roll, pitch, yaw); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE MARKER UNPACKING + +/** + * @brief Get field id from marker message + * + * @return ID + */ +static inline uint16_t mavlink_msg_marker_get_id(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload)[0]; + r.b[0] = (msg->payload)[1]; + return (uint16_t)r.s; +} + +/** + * @brief Get field x from marker message + * + * @return x position + */ +static inline float mavlink_msg_marker_get_x(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint16_t))[0]; + r.b[2] = (msg->payload+sizeof(uint16_t))[1]; + r.b[1] = (msg->payload+sizeof(uint16_t))[2]; + r.b[0] = (msg->payload+sizeof(uint16_t))[3]; + return (float)r.f; +} + +/** + * @brief Get field y from marker message + * + * @return y position + */ +static inline float mavlink_msg_marker_get_y(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field z from marker message + * + * @return z position + */ +static inline float mavlink_msg_marker_get_z(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field roll from marker message + * + * @return roll orientation + */ +static inline float mavlink_msg_marker_get_roll(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field pitch from marker message + * + * @return pitch orientation + */ +static inline float mavlink_msg_marker_get_pitch(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field yaw from marker message + * + * @return yaw orientation + */ +static inline float mavlink_msg_marker_get_yaw(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Decode a marker message into a struct + * + * @param msg The message to decode + * @param marker C-struct to decode the message contents into + */ +static inline void mavlink_msg_marker_decode(const mavlink_message_t* msg, mavlink_marker_t* marker) +{ + marker->id = mavlink_msg_marker_get_id(msg); + marker->x = mavlink_msg_marker_get_x(msg); + marker->y = mavlink_msg_marker_get_y(msg); + marker->z = mavlink_msg_marker_get_z(msg); + marker->roll = mavlink_msg_marker_get_roll(msg); + marker->pitch = mavlink_msg_marker_get_pitch(msg); + marker->yaw = mavlink_msg_marker_get_yaw(msg); +}