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Added navigation augmentation messages.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@825 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-11-11 04:22:43 +00:00
parent afb134b915
commit ab1df51b5f
2 changed files with 277 additions and 1 deletions
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32
libraries/APM_BinComm/protocol/protocol.def
View File

@ -252,4 +252,34 @@ message 0xa0 MSG_EEPROM_REQUEST
message 0xa1 MSG_EEPROM_SET
uint16_t UNSPECIFIED
message 0xb0 MSG_EEPROM_SET
uint16_t UNSPECIFIED
message 0xb1 MSG_EEPROM_SET
uint16_t UNSPECIFIED
#
# Navigation Augmentation
#
message 0xb0 MSG_POSITION_CORRECT
int16_t latError
int16_t lonError
int16_t altError
int16_t groundSpeedError
message 0xb1 MSG_ATTITUDE_CORRECT
int16_t rollError
int16_t pitchError
int16_t yawError
message 0xb2 MSG_POSITION_SET
int32_t latitude
int32_t longitude
int32_t altitude
uint16_t heading
message 0xb3 MSG_ATTITUDE_SET
int16_t roll
int16_t pitch
unt16_t yaw

246
libraries/APM_BinComm/protocol/protocol.h
View File

@ -1247,6 +1247,248 @@ unpack_msg_eeprom_set(
};
//@}
//////////////////////////////////////////////////////////////////////
/// @name MSG_EEPROM_SET
//@{
/// Structure describing the payload section of the MSG_EEPROM_SET message
struct msg_eeprom_set {
uint16_t UNSPECIFIED;
};
/// Send a MSG_EEPROM_SET message
inline void
send_msg_eeprom_set(
const uint16_t UNSPECIFIED)
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, UNSPECIFIED);
_encodeBuf.header.length = 2;
_encodeBuf.header.messageID = MSG_EEPROM_SET;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
};
/// Unpack a MSG_EEPROM_SET message
inline void
unpack_msg_eeprom_set(
uint16_t &UNSPECIFIED)
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, UNSPECIFIED);
};
//@}
//////////////////////////////////////////////////////////////////////
/// @name MSG_EEPROM_SET
//@{
/// Structure describing the payload section of the MSG_EEPROM_SET message
struct msg_eeprom_set {
uint16_t UNSPECIFIED;
};
/// Send a MSG_EEPROM_SET message
inline void
send_msg_eeprom_set(
const uint16_t UNSPECIFIED)
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, UNSPECIFIED);
_encodeBuf.header.length = 2;
_encodeBuf.header.messageID = MSG_EEPROM_SET;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
};
/// Unpack a MSG_EEPROM_SET message
inline void
unpack_msg_eeprom_set(
uint16_t &UNSPECIFIED)
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, UNSPECIFIED);
};
//@}
//////////////////////////////////////////////////////////////////////
/// @name MSG_POSITION_CORRECT
//@{
/// Structure describing the payload section of the MSG_POSITION_CORRECT message
struct msg_position_correct {
int16_t latError;
int16_t lonError;
int16_t altError;
int16_t groundSpeedError;
};
/// Send a MSG_POSITION_CORRECT message
inline void
send_msg_position_correct(
const int16_t latError,
const int16_t lonError,
const int16_t altError,
const int16_t groundSpeedError)
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, latError);
_pack(__p, lonError);
_pack(__p, altError);
_pack(__p, groundSpeedError);
_encodeBuf.header.length = 8;
_encodeBuf.header.messageID = MSG_POSITION_CORRECT;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
};
/// Unpack a MSG_POSITION_CORRECT message
inline void
unpack_msg_position_correct(
int16_t &latError,
int16_t &lonError,
int16_t &altError,
int16_t &groundSpeedError)
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, latError);
_unpack(__p, lonError);
_unpack(__p, altError);
_unpack(__p, groundSpeedError);
};
//@}
//////////////////////////////////////////////////////////////////////
/// @name MSG_ATTITUDE_CORRECT
//@{
/// Structure describing the payload section of the MSG_ATTITUDE_CORRECT message
struct msg_attitude_correct {
int16_t rollError;
int16_t pitchError;
int16_t yawError;
};
/// Send a MSG_ATTITUDE_CORRECT message
inline void
send_msg_attitude_correct(
const int16_t rollError,
const int16_t pitchError,
const int16_t yawError)
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, rollError);
_pack(__p, pitchError);
_pack(__p, yawError);
_encodeBuf.header.length = 6;
_encodeBuf.header.messageID = MSG_ATTITUDE_CORRECT;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
};
/// Unpack a MSG_ATTITUDE_CORRECT message
inline void
unpack_msg_attitude_correct(
int16_t &rollError,
int16_t &pitchError,
int16_t &yawError)
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, rollError);
_unpack(__p, pitchError);
_unpack(__p, yawError);
};
//@}
//////////////////////////////////////////////////////////////////////
/// @name MSG_POSITION_SET
//@{
/// Structure describing the payload section of the MSG_POSITION_SET message
struct msg_position_set {
int32_t latitude;
int32_t longitude;
int32_t altitude;
uint16_t heading;
};
/// Send a MSG_POSITION_SET message
inline void
send_msg_position_set(
const int32_t latitude,
const int32_t longitude,
const int32_t altitude,
const uint16_t heading)
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, latitude);
_pack(__p, longitude);
_pack(__p, altitude);
_pack(__p, heading);
_encodeBuf.header.length = 14;
_encodeBuf.header.messageID = MSG_POSITION_SET;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
};
/// Unpack a MSG_POSITION_SET message
inline void
unpack_msg_position_set(
int32_t &latitude,
int32_t &longitude,
int32_t &altitude,
uint16_t &heading)
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, latitude);
_unpack(__p, longitude);
_unpack(__p, altitude);
_unpack(__p, heading);
};
//@}
//////////////////////////////////////////////////////////////////////
/// @name MSG_ATTITUDE_SET
//@{
/// Structure describing the payload section of the MSG_ATTITUDE_SET message
struct msg_attitude_set {
int16_t roll;
int16_t pitch;
unt16_t yaw;
};
/// Send a MSG_ATTITUDE_SET message
inline void
send_msg_attitude_set(
const int16_t roll,
const int16_t pitch,
const unt16_t yaw)
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, roll);
_pack(__p, pitch);
_pack(__p, yaw);
_encodeBuf.header.length = 6;
_encodeBuf.header.messageID = MSG_ATTITUDE_SET;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
};
/// Unpack a MSG_ATTITUDE_SET message
inline void
unpack_msg_attitude_set(
int16_t &roll,
int16_t &pitch,
unt16_t &yaw)
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, roll);
_unpack(__p, pitch);
_unpack(__p, yaw);
};
//@}
//////////////////////////////////////////////////////////////////////
/// Message ID values
enum MessageID {
@ -1277,7 +1519,11 @@ enum MessageID {
MSG_EEPROM_REQUEST = 0xa0,
MSG_EEPROM_SET = 0xa1,
MSG_SERVO_OUT = 0x70,
MSG_POSITION_CORRECT = 0xb0,
MSG_ATTITUDE_CORRECT = 0xb1,
MSG_POSITION_SET = 0xb2,
MSG_PIN_REQUEST = 0x80,
MSG_ATTITUDE_SET = 0xb3,
MSG_PIN_SET = 0x81,
MSG_DATAFLASH_REQUEST = 0x90,
MSG_DATAFLASH_SET = 0x91,