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_image_triggered.h
- Revision:
- 0:826c6171fc1b
diff -r 000000000000 -r 826c6171fc1b MAVlink/include/pixhawk/mavlink_msg_image_triggered.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/pixhawk/mavlink_msg_image_triggered.h Wed Jun 20 14:57:48 2012 +0000 @@ -0,0 +1,352 @@ +// MESSAGE IMAGE_TRIGGERED PACKING + +#define MAVLINK_MSG_ID_IMAGE_TRIGGERED 101 + +typedef struct __mavlink_image_triggered_t +{ + uint64_t timestamp; ///< Timestamp + uint32_t seq; ///< IMU seq + float roll; ///< Roll angle in rad + float pitch; ///< Pitch angle in rad + float yaw; ///< Yaw angle in rad + float local_z; ///< Local frame Z coordinate (height over ground) + float lat; ///< GPS X coordinate + float lon; ///< GPS Y coordinate + float alt; ///< Global frame altitude + float ground_x; ///< Ground truth X + float ground_y; ///< Ground truth Y + float ground_z; ///< Ground truth Z + +} mavlink_image_triggered_t; + + + +/** + * @brief Pack a image_triggered 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 timestamp Timestamp + * @param seq IMU seq + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @param local_z Local frame Z coordinate (height over ground) + * @param lat GPS X coordinate + * @param lon GPS Y coordinate + * @param alt Global frame altitude + * @param ground_x Ground truth X + * @param ground_y Ground truth Y + * @param ground_z Ground truth Z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED; + + i += put_uint64_t_by_index(timestamp, i, msg->payload); // Timestamp + i += put_uint32_t_by_index(seq, i, msg->payload); // IMU seq + i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad + i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad + i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad + i += put_float_by_index(local_z, i, msg->payload); // Local frame Z coordinate (height over ground) + i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate + i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate + i += put_float_by_index(alt, i, msg->payload); // Global frame altitude + i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X + i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y + i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a image_triggered 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 timestamp Timestamp + * @param seq IMU seq + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @param local_z Local frame Z coordinate (height over ground) + * @param lat GPS X coordinate + * @param lon GPS Y coordinate + * @param alt Global frame altitude + * @param ground_x Ground truth X + * @param ground_y Ground truth Y + * @param ground_z Ground truth Z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED; + + i += put_uint64_t_by_index(timestamp, i, msg->payload); // Timestamp + i += put_uint32_t_by_index(seq, i, msg->payload); // IMU seq + i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad + i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad + i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad + i += put_float_by_index(local_z, i, msg->payload); // Local frame Z coordinate (height over ground) + i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate + i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate + i += put_float_by_index(alt, i, msg->payload); // Global frame altitude + i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X + i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y + i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a image_triggered 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 image_triggered C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_image_triggered_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_triggered_t* image_triggered) +{ + return mavlink_msg_image_triggered_pack(system_id, component_id, msg, image_triggered->timestamp, image_triggered->seq, image_triggered->roll, image_triggered->pitch, image_triggered->yaw, image_triggered->local_z, image_triggered->lat, image_triggered->lon, image_triggered->alt, image_triggered->ground_x, image_triggered->ground_y, image_triggered->ground_z); +} + +/** + * @brief Send a image_triggered message + * @param chan MAVLink channel to send the message + * + * @param timestamp Timestamp + * @param seq IMU seq + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @param local_z Local frame Z coordinate (height over ground) + * @param lat GPS X coordinate + * @param lon GPS Y coordinate + * @param alt Global frame altitude + * @param ground_x Ground truth X + * @param ground_y Ground truth Y + * @param ground_z Ground truth Z + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_image_triggered_send(mavlink_channel_t chan, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +{ + mavlink_message_t msg; + mavlink_msg_image_triggered_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, timestamp, seq, roll, pitch, yaw, local_z, lat, lon, alt, ground_x, ground_y, ground_z); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE IMAGE_TRIGGERED UNPACKING + +/** + * @brief Get field timestamp from image_triggered message + * + * @return Timestamp + */ +static inline uint64_t mavlink_msg_image_triggered_get_timestamp(const mavlink_message_t* msg) +{ + generic_64bit r; + r.b[7] = (msg->payload)[0]; + r.b[6] = (msg->payload)[1]; + r.b[5] = (msg->payload)[2]; + r.b[4] = (msg->payload)[3]; + r.b[3] = (msg->payload)[4]; + r.b[2] = (msg->payload)[5]; + r.b[1] = (msg->payload)[6]; + r.b[0] = (msg->payload)[7]; + return (uint64_t)r.ll; +} + +/** + * @brief Get field seq from image_triggered message + * + * @return IMU seq + */ +static inline uint32_t mavlink_msg_image_triggered_get_seq(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t))[3]; + return (uint32_t)r.i; +} + +/** + * @brief Get field roll from image_triggered message + * + * @return Roll angle in rad + */ +static inline float mavlink_msg_image_triggered_get_roll(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[3]; + return (float)r.f; +} + +/** + * @brief Get field pitch from image_triggered message + * + * @return Pitch angle in rad + */ +static inline float mavlink_msg_image_triggered_get_pitch(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field yaw from image_triggered message + * + * @return Yaw angle in rad + */ +static inline float mavlink_msg_image_triggered_get_yaw(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field local_z from image_triggered message + * + * @return Local frame Z coordinate (height over ground) + */ +static inline float mavlink_msg_image_triggered_get_local_z(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field lat from image_triggered message + * + * @return GPS X coordinate + */ +static inline float mavlink_msg_image_triggered_get_lat(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field lon from image_triggered message + * + * @return GPS Y coordinate + */ +static inline float mavlink_msg_image_triggered_get_lon(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field alt from image_triggered message + * + * @return Global frame altitude + */ +static inline float mavlink_msg_image_triggered_get_alt(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field ground_x from image_triggered message + * + * @return Ground truth X + */ +static inline float mavlink_msg_image_triggered_get_ground_x(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field ground_y from image_triggered message + * + * @return Ground truth Y + */ +static inline float mavlink_msg_image_triggered_get_ground_y(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field ground_z from image_triggered message + * + * @return Ground truth Z + */ +static inline float mavlink_msg_image_triggered_get_ground_z(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Decode a image_triggered message into a struct + * + * @param msg The message to decode + * @param image_triggered C-struct to decode the message contents into + */ +static inline void mavlink_msg_image_triggered_decode(const mavlink_message_t* msg, mavlink_image_triggered_t* image_triggered) +{ + image_triggered->timestamp = mavlink_msg_image_triggered_get_timestamp(msg); + image_triggered->seq = mavlink_msg_image_triggered_get_seq(msg); + image_triggered->roll = mavlink_msg_image_triggered_get_roll(msg); + image_triggered->pitch = mavlink_msg_image_triggered_get_pitch(msg); + image_triggered->yaw = mavlink_msg_image_triggered_get_yaw(msg); + image_triggered->local_z = mavlink_msg_image_triggered_get_local_z(msg); + image_triggered->lat = mavlink_msg_image_triggered_get_lat(msg); + image_triggered->lon = mavlink_msg_image_triggered_get_lon(msg); + image_triggered->alt = mavlink_msg_image_triggered_get_alt(msg); + image_triggered->ground_x = mavlink_msg_image_triggered_get_ground_x(msg); + image_triggered->ground_y = mavlink_msg_image_triggered_get_ground_y(msg); + image_triggered->ground_z = mavlink_msg_image_triggered_get_ground_z(msg); +}