mirror of https://github.com/ArduPilot/ardupilot
131 lines
3.9 KiB
C
131 lines
3.9 KiB
C
// MESSAGE PID PACKING
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#define MAVLINK_MSG_ID_PID 182
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typedef struct __mavlink_pid_t
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{
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uint8_t target; ///< The system setting the PID values
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float pVal; ///< Proportional gain
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float iVal; ///< Integral gain
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float dVal; ///< Derivative gain
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uint8_t idx; ///< PID loop index
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} mavlink_pid_t;
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/**
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* @brief Send a pid message
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*
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* @param target The system setting the PID values
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* @param pVal Proportional gain
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* @param iVal Integral gain
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* @param dVal Derivative gain
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* @param idx PID loop index
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_pid_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, float pVal, float iVal, float dVal, uint8_t idx)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_PID;
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i += put_uint8_t_by_index(target, i, msg->payload); //The system setting the PID values
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i += put_float_by_index(pVal, i, msg->payload); //Proportional gain
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i += put_float_by_index(iVal, i, msg->payload); //Integral gain
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i += put_float_by_index(dVal, i, msg->payload); //Derivative gain
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i += put_uint8_t_by_index(idx, i, msg->payload); //PID loop index
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return mavlink_finalize_message(msg, system_id, component_id, i);
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}
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static inline uint16_t mavlink_msg_pid_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_pid_t* pid)
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{
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return mavlink_msg_pid_pack(system_id, component_id, msg, pid->target, pid->pVal, pid->iVal, pid->dVal, pid->idx);
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}
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_pid_send(mavlink_channel_t chan, uint8_t target, float pVal, float iVal, float dVal, uint8_t idx)
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{
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mavlink_message_t msg;
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mavlink_msg_pid_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target, pVal, iVal, dVal, idx);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE PID UNPACKING
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/**
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* @brief Get field target from pid message
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*
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* @return The system setting the PID values
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*/
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static inline uint8_t mavlink_msg_pid_get_target(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload)[0];
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}
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/**
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* @brief Get field pVal from pid message
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*
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* @return Proportional gain
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*/
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static inline float mavlink_msg_pid_get_pVal(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint8_t))[0];
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r.b[2] = (msg->payload+sizeof(uint8_t))[1];
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r.b[1] = (msg->payload+sizeof(uint8_t))[2];
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r.b[0] = (msg->payload+sizeof(uint8_t))[3];
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return (float)r.f;
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}
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/**
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* @brief Get field iVal from pid message
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*
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* @return Integral gain
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*/
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static inline float mavlink_msg_pid_get_iVal(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float))[3];
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return (float)r.f;
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}
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/**
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* @brief Get field dVal from pid message
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*
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* @return Derivative gain
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*/
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static inline float mavlink_msg_pid_get_dVal(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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}
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/**
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* @brief Get field idx from pid message
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*
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* @return PID loop index
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*/
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static inline uint8_t mavlink_msg_pid_get_idx(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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}
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static inline void mavlink_msg_pid_decode(const mavlink_message_t* msg, mavlink_pid_t* pid)
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{
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pid->target = mavlink_msg_pid_get_target(msg);
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pid->pVal = mavlink_msg_pid_get_pVal(msg);
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pid->iVal = mavlink_msg_pid_get_iVal(msg);
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pid->dVal = mavlink_msg_pid_get_dVal(msg);
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pid->idx = mavlink_msg_pid_get_idx(msg);
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}
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