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MAVLink: rebuilt with new RANGEFINDER message

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This commit is contained in:
Andrew Tridgell 2013-03-01 12:01:31 +11:00
parent 12d73a8662
commit cbdeb20dad
5 changed files with 218 additions and 5 deletions
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7
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
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File diff suppressed because one or more lines are too long

166
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rangefinder.h Normal file
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@ -0,0 +1,166 @@
// MESSAGE RANGEFINDER PACKING
#define MAVLINK_MSG_ID_RANGEFINDER 173
typedef struct __mavlink_rangefinder_t
{
float distance; ///< distance in meters
float voltage; ///< raw voltage if available, zero otherwise
} mavlink_rangefinder_t;
#define MAVLINK_MSG_ID_RANGEFINDER_LEN 8
#define MAVLINK_MSG_ID_173_LEN 8
#define MAVLINK_MESSAGE_INFO_RANGEFINDER { \
"RANGEFINDER", \
2, \
{ { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_rangefinder_t, distance) }, \
{ "voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_rangefinder_t, voltage) }, \
} \
}
/**
* @brief Pack a rangefinder 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 distance distance in meters
* @param voltage raw voltage if available, zero otherwise
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rangefinder_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float distance, float voltage)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_float(buf, 0, distance);
_mav_put_float(buf, 4, voltage);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8);
#else
mavlink_rangefinder_t packet;
packet.distance = distance;
packet.voltage = voltage;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_RANGEFINDER;
return mavlink_finalize_message(msg, system_id, component_id, 8, 83);
}
/**
* @brief Pack a rangefinder message on a channel
* @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 distance distance in meters
* @param voltage raw voltage if available, zero otherwise
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rangefinder_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float distance,float voltage)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_float(buf, 0, distance);
_mav_put_float(buf, 4, voltage);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8);
#else
mavlink_rangefinder_t packet;
packet.distance = distance;
packet.voltage = voltage;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_RANGEFINDER;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8, 83);
}
/**
* @brief Encode a rangefinder 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 rangefinder C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_rangefinder_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rangefinder_t* rangefinder)
{
return mavlink_msg_rangefinder_pack(system_id, component_id, msg, rangefinder->distance, rangefinder->voltage);
}
/**
* @brief Send a rangefinder message
* @param chan MAVLink channel to send the message
*
* @param distance distance in meters
* @param voltage raw voltage if available, zero otherwise
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_rangefinder_send(mavlink_channel_t chan, float distance, float voltage)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_float(buf, 0, distance);
_mav_put_float(buf, 4, voltage);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, 8, 83);
#else
mavlink_rangefinder_t packet;
packet.distance = distance;
packet.voltage = voltage;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)&packet, 8, 83);
#endif
}
#endif
// MESSAGE RANGEFINDER UNPACKING
/**
* @brief Get field distance from rangefinder message
*
* @return distance in meters
*/
static inline float mavlink_msg_rangefinder_get_distance(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field voltage from rangefinder message
*
* @return raw voltage if available, zero otherwise
*/
static inline float mavlink_msg_rangefinder_get_voltage(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Decode a rangefinder message into a struct
*
* @param msg The message to decode
* @param rangefinder C-struct to decode the message contents into
*/
static inline void mavlink_msg_rangefinder_decode(const mavlink_message_t* msg, mavlink_rangefinder_t* rangefinder)
{
#if MAVLINK_NEED_BYTE_SWAP
rangefinder->distance = mavlink_msg_rangefinder_get_distance(msg);
rangefinder->voltage = mavlink_msg_rangefinder_get_voltage(msg);
#else
memcpy(rangefinder, _MAV_PAYLOAD(msg), 8);
#endif
}

46
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h
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@ -1180,6 +1180,51 @@ static void mavlink_test_data96(uint8_t system_id, uint8_t component_id, mavlink
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_rangefinder(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_rangefinder_t packet_in = {
17.0,
45.0,
};
mavlink_rangefinder_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.distance = packet_in.distance;
packet1.voltage = packet_in.voltage;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_rangefinder_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_rangefinder_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_rangefinder_pack(system_id, component_id, &msg , packet1.distance , packet1.voltage );
mavlink_msg_rangefinder_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_rangefinder_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.distance , packet1.voltage );
mavlink_msg_rangefinder_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_rangefinder_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_rangefinder_send(MAVLINK_COMM_1 , packet1.distance , packet1.voltage );
mavlink_msg_rangefinder_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_sensor_offsets(system_id, component_id, last_msg);
@ -1204,6 +1249,7 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
mavlink_test_data32(system_id, component_id, last_msg);
mavlink_test_data64(system_id, component_id, last_msg);
mavlink_test_data96(system_id, component_id, last_msg);
mavlink_test_rangefinder(system_id, component_id, last_msg);
}
#ifdef __cplusplus

2
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
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@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Tue Jan 8 15:55:07 2013"
#define MAVLINK_BUILD_DATE "Fri Mar 1 11:21:56 2013"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254

2
libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
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@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Tue Jan 8 15:55:08 2013"
#define MAVLINK_BUILD_DATE "Fri Mar 1 11:21:57 2013"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254