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this allows reset of the mag offsets without wiping your EEPROM git-svn-id: https://arducopter.googlecode.com/svn/trunk@3088 f9c3cf11-9bcb-44bc-f272-b75c42450872mission-4.1.18
tridge60@gmail.com
14 years ago
6 changed files with 194 additions and 5 deletions
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// MESSAGE SET_MAG_OFFSETS PACKING
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#define MAVLINK_MSG_ID_SET_MAG_OFFSETS 151 |
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typedef struct __mavlink_set_mag_offsets_t
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{ |
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uint8_t target_system; ///< System ID
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uint8_t target_component; ///< Component ID
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int16_t mag_ofs_x; ///< magnetometer X offset
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int16_t mag_ofs_y; ///< magnetometer Y offset
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int16_t mag_ofs_z; ///< magnetometer Z offset
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} mavlink_set_mag_offsets_t; |
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/**
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* @brief Pack a set_mag_offsets message |
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* @param system_id ID of this system |
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* @param component_id ID of this component (e.g. 200 for IMU) |
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* @param msg The MAVLink message to compress the data into |
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* |
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* @param target_system System ID |
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* @param target_component Component ID |
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* @param mag_ofs_x magnetometer X offset |
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* @param mag_ofs_y magnetometer Y offset |
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* @param mag_ofs_z magnetometer Z offset |
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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_set_mag_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS; |
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i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
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i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
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i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset
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i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset
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i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset
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return mavlink_finalize_message(msg, system_id, component_id, i); |
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} |
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/**
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* @brief Pack a set_mag_offsets message |
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* @param system_id ID of this system |
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* @param component_id ID of this component (e.g. 200 for IMU) |
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* @param chan The MAVLink channel this message was sent over |
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* @param msg The MAVLink message to compress the data into |
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* @param target_system System ID |
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* @param target_component Component ID |
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* @param mag_ofs_x magnetometer X offset |
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* @param mag_ofs_y magnetometer Y offset |
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* @param mag_ofs_z magnetometer Z offset |
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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_set_mag_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS; |
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i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
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i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
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i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset
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i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset
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i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
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} |
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/**
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* @brief Encode a set_mag_offsets struct into a message |
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* |
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* @param system_id ID of this system |
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* @param component_id ID of this component (e.g. 200 for IMU) |
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* @param msg The MAVLink message to compress the data into |
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* @param set_mag_offsets C-struct to read the message contents from |
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*/ |
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static inline uint16_t mavlink_msg_set_mag_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mag_offsets_t* set_mag_offsets) |
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{ |
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return mavlink_msg_set_mag_offsets_pack(system_id, component_id, msg, set_mag_offsets->target_system, set_mag_offsets->target_component, set_mag_offsets->mag_ofs_x, set_mag_offsets->mag_ofs_y, set_mag_offsets->mag_ofs_z); |
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} |
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/**
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* @brief Send a set_mag_offsets message |
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* @param chan MAVLink channel to send the message |
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* |
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* @param target_system System ID |
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* @param target_component Component ID |
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* @param mag_ofs_x magnetometer X offset |
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* @param mag_ofs_y magnetometer Y offset |
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* @param mag_ofs_z magnetometer Z offset |
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*/ |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_set_mag_offsets_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z) |
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{ |
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mavlink_message_t msg; |
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mavlink_msg_set_mag_offsets_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z); |
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mavlink_send_uart(chan, &msg); |
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} |
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#endif |
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// MESSAGE SET_MAG_OFFSETS UNPACKING
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/**
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* @brief Get field target_system from set_mag_offsets message |
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* |
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* @return System ID |
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*/ |
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static inline uint8_t mavlink_msg_set_mag_offsets_get_target_system(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 target_component from set_mag_offsets message |
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* |
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* @return Component ID |
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*/ |
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static inline uint8_t mavlink_msg_set_mag_offsets_get_target_component(const mavlink_message_t* msg) |
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{ |
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return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; |
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} |
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/**
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* @brief Get field mag_ofs_x from set_mag_offsets message |
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* |
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* @return magnetometer X offset |
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*/ |
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static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_x(const mavlink_message_t* msg) |
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{ |
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generic_16bit r; |
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; |
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return (int16_t)r.s; |
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} |
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/**
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* @brief Get field mag_ofs_y from set_mag_offsets message |
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* |
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* @return magnetometer Y offset |
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*/ |
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static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_y(const mavlink_message_t* msg) |
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{ |
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generic_16bit r; |
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t))[0]; |
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t))[1]; |
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return (int16_t)r.s; |
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} |
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/**
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* @brief Get field mag_ofs_z from set_mag_offsets message |
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* |
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* @return magnetometer Z offset |
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*/ |
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static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_z(const mavlink_message_t* msg) |
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{ |
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generic_16bit r; |
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t))[0]; |
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t))[1]; |
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return (int16_t)r.s; |
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} |
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/**
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* @brief Decode a set_mag_offsets message into a struct |
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* |
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* @param msg The message to decode |
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* @param set_mag_offsets C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_set_mag_offsets_decode(const mavlink_message_t* msg, mavlink_set_mag_offsets_t* set_mag_offsets) |
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{ |
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set_mag_offsets->target_system = mavlink_msg_set_mag_offsets_get_target_system(msg); |
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set_mag_offsets->target_component = mavlink_msg_set_mag_offsets_get_target_component(msg); |
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set_mag_offsets->mag_ofs_x = mavlink_msg_set_mag_offsets_get_mag_ofs_x(msg); |
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set_mag_offsets->mag_ofs_y = mavlink_msg_set_mag_offsets_get_mag_ofs_y(msg); |
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set_mag_offsets->mag_ofs_z = mavlink_msg_set_mag_offsets_get_mag_ofs_z(msg); |
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} |
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