{"type":"doc","content":[{"type":"heading","attrs":{"level":2},"content":[{"text":"1. Introduction","type":"text"}]},{"type":"paragraph","content":[{"text":"This project establishes the foundational architecture for the MAVLink communication system, enabling the seamless encoding and decoding of MAVLink messages from raw data inputs.","type":"text"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"2. Features & Functionalities","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Encoding of Data:","type":"text","marks":[{"type":"strong"}]},{"text":" Convert raw data inputs into MAVLink formatted messages.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Buffer Storage:","type":"text","marks":[{"type":"strong"}]},{"text":" Store the MAVLink formatted messages into a buffer for transmission or further processing.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Decoding of MAVLink Bytestreams:","type":"text","marks":[{"type":"strong"}]},{"text":" Parse buffer to retrieve MAVLink message.","type":"text"}]}]}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"3. Classes & Methods","type":"text"}]},{"type":"heading","attrs":{"level":3},"content":[{"text":"MavlinkEncoder","type":"text"}]},{"type":"paragraph","content":[{"text":"This class serves as the core component responsible for encoding MAVLink messages from raw data inputs contained within the ","type":"text"},{"text":"IncomingData","type":"text","marks":[{"type":"code"}]},{"text":" struct. It provides functionalities for encoding different MAVLink messages and packing them into a single buffer array.","type":"text"}]},{"type":"heading","attrs":{"level":4},"content":[{"text":"Constructor: ","type":"text"},{"text":"MavlinkEncoder::MavlinkEncoder()","type":"text","marks":[{"type":"code"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Purpose:","type":"text","marks":[{"type":"strong"}]},{"text":" Initializes the ","type":"text"},{"text":"MavlinkEncoder","type":"text","marks":[{"type":"code"}]},{"text":" object.","type":"text"}]}]}]},{"type":"heading","attrs":{"level":4},"content":[{"text":"Method: ","type":"text"},{"text":"packIntoMavlinkByteArray","type":"text","marks":[{"type":"code"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Purpose:","type":"text","marks":[{"type":"strong"}]},{"text":" Encodes incoming data into MAVLink formatted messages and packs these messages into an output buffer.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Parameters:","type":"text","marks":[{"type":"strong"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"IncomingData &data","type":"text","marks":[{"type":"code"}]},{"text":": Reference to the raw data that needs to be encoded.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"uint8_t outputBuffer[]","type":"text","marks":[{"type":"code"}]},{"text":": Target buffer where the MAVLink messages will be stored.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"size_t maxBufferSize","type":"text","marks":[{"type":"code"}]},{"text":": Maximum allowable size of the target buffer to prevent overflow.","type":"text"}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Return Value:","type":"text","marks":[{"type":"strong"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Returns the actual size of the data packed into the output buffer. Note that the output buffer provided in the parameter will be filled with the encoded MAVLink messages.","type":"text"}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Notes:","type":"text","marks":[{"type":"strong"}]}]},{"type":"orderedList","attrs":{"order":1},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Uses a temporary buffer (","type":"text"},{"text":"tempBuffer","type":"text","marks":[{"type":"code"}]},{"text":") to first store the MAVLink message before copying it to the output buffer.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Checks for the initialization of various data fields (like latitude, longitude, altitude) and encodes the corresponding MAVLink message.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Does not contain an error handling like overwriting the outputBuffer.","type":"text"}]}]}]}]}]},{"type":"paragraph","content":[{"text":"Macro: ","type":"text","marks":[{"type":"strong"}]},{"text":"ENCODE_MESSAGE(baseName, ...)","type":"text","marks":[{"type":"code"}]}]},{"type":"paragraph","content":[{"text":"Overview:","type":"text","marks":[{"type":"strong"}]},{"type":"hardBreak"},{"text":"The ","type":"text"},{"text":"ENCODE_MESSAGE","type":"text","marks":[{"type":"code"}]},{"text":" macro stands as an integral tool within the ","type":"text"},{"text":"MavlinkEncoder","type":"text","marks":[{"type":"code"}]},{"text":" class. Its role is pivotal in effortlessly packing MAVLink messages spanning a variety of types. With its parameters, this macro simplifies the task of enveloping MAVLink messages within a byte buffer and retrieving the buffer length.","type":"text"}]},{"type":"paragraph","content":[{"text":"Macro Parameters:","type":"text","marks":[{"type":"strong"}]}]},{"type":"orderedList","attrs":{"order":1},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"baseName (string)","type":"text","marks":[{"type":"strong"}]}]}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Description:","type":"text","marks":[{"type":"strong"}]},{"text":" Symbolizes the root name of the MAVLink message being encoded.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Purpose:","type":"text","marks":[{"type":"strong"}]},{"text":" Helps in identifying and forming the MAVLink message's packing function name, ensuring consistency in the packing process.","type":"text"}]}]}]},{"type":"orderedList","attrs":{"order":2},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"... (Varargs)","type":"text","marks":[{"type":"strong"}]}]}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Description:","type":"text","marks":[{"type":"strong"}]},{"text":" Denotes the base name of the MAVLink message type.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Purpose:","type":"text","marks":[{"type":"strong"}]},{"text":" Extracted from the MAVLink message type's name by excluding the \"mavlink_msg_\" prefix and the \"_pack\" suffix. This assists in forming the encoder function name adhering to a specific MAVLink naming pattern. The encoder function is part of the official MAVLink library. ","type":"text"}]}]}]},{"type":"paragraph","content":[{"text":"How it Works:","type":"text","marks":[{"type":"strong"}]}]},{"type":"paragraph","content":[{"text":"Upon the macro's invocation:","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"An anonymous lambda function is generated. This function is tailored to pack the provided arguments into a MAVLink message and translate the resultant message into a byte buffer.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Inside this lambda:","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"The MAVLink packing function pertaining to the ","type":"text"},{"text":"baseName","type":"text","marks":[{"type":"code"}]},{"text":" is called to pack the message.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"The packed message is then translated into a byte buffer, and its length is computed.","type":"text"}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"This lambda function can subsequently be used to pack MAVLink messages and fetch the length of the populated buffer.","type":"text"}]}]}]},{"type":"paragraph","content":[{"text":"Example Usage:","type":"text","marks":[{"type":"strong"}]}]},{"type":"paragraph","content":[{"text":"To elaborate:","type":"text"}]},{"type":"codeBlock","attrs":{"language":"c++"},"content":[{"text":"ENCODE_MESSAGE(HEARTBEAT, 1, 2, 3, 4, 5, 6, 7, 8, 9)(msg, buffer);","type":"text"}]},{"type":"paragraph","content":[{"text":"Here, \"HEARTBEAT\" denotes the base name of the MAVLink message, while the integers 1 through 9 act as specific arguments for the ","type":"text"},{"text":"HEARTBEAT","type":"text","marks":[{"type":"code"}]},{"text":" message. The parameters ","type":"text"},{"text":"msg","type":"text","marks":[{"type":"code"}]},{"text":" and ","type":"text"},{"text":"buffer","type":"text","marks":[{"type":"code"}]},{"text":" are supplied to the lambda function to store the encoded message and the buffer containing it, respectively.","type":"text"}]},{"type":"paragraph","content":[{"text":"Notes:","type":"text","marks":[{"type":"strong"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"The ","type":"text"},{"text":"ENCODE_MESSAGE","type":"text","marks":[{"type":"code"}]},{"text":" macro leverages the power of lambda functions, ensuring the packing process is both encapsulated and efficient for varied MAVLink message types.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"The design ensures that the ","type":"text"},{"text":"MavlinkEncoder","type":"text","marks":[{"type":"code"}]},{"text":" class is equipped with a modular and robust approach to MAVLink message encoding, bolstering clarity and maintainability of the code.","type":"text"}]}]}]},{"type":"heading","attrs":{"level":3},"content":[{"text":"MavlinkDecoder","type":"text"}]},{"type":"paragraph","content":[{"text":"This class acts as the principal mechanism for decoding MAVLink messages into their respective structured representations. The decoded data can then be utilized for further application-specific processing. The decoder leverages callback-based techniques, registering specific decoder functions for each MAVLink message type. When a message is detected, the appropriate decoder function is triggered.","type":"text"}]},{"type":"paragraph","content":[{"text":"Constructor: ","type":"text","marks":[{"type":"strong"}]},{"text":"MavlinkDecoder::MavlinkDecoder()","type":"text","marks":[{"type":"code"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Purpose:","type":"text","marks":[{"type":"strong"}]},{"text":" Sets up the registered decoders for the MAVLink message types, mapping each message type to its corresponding decoding function.","type":"text"}]}]}]},{"type":"paragraph","content":[{"text":"Method: ","type":"text","marks":[{"type":"strong"}]},{"text":"parseBytesToMavlinkMsgs","type":"text","marks":[{"type":"code"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Purpose:","type":"text","marks":[{"type":"strong"}]},{"text":" Iterates through a provided byte buffer, attempts to construct valid MAVLink messages, and subsequently decodes them.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Parameters:","type":"text","marks":[{"type":"strong"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"*","type":"text"},{"text":"u_int8_t buffer:","type":"text","marks":[{"type":"em"}]},{"text":" Pointer to the source buffer containing raw bytes.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"std::size_t bufferSize:","type":"text","marks":[{"type":"strong"}]},{"text":" The size of the provided buffer, denoting how many bytes to process.","type":"text"}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Notes:","type":"text","marks":[{"type":"strong"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Relies on the ","type":"text"},{"text":"mavlink_parse_char","type":"text","marks":[{"type":"code"}]},{"text":" function to recognize and create MAVLink messages.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Uses the constructed MAVLink message and tries to decode it employing the registered decoder functions.","type":"text"}]}]}]}]}]},{"type":"paragraph","content":[{"text":"Macro: ","type":"text","marks":[{"type":"strong"}]},{"text":"REGISTER_DECODER(msgId, baseName, postProcessor)","type":"text","marks":[{"type":"code"}]}]},{"type":"paragraph","content":[{"text":"Overview:","type":"text","marks":[{"type":"strong"}]},{"text":" The ","type":"text"},{"text":"REGISTER_DECODER","type":"text","marks":[{"type":"code"}]},{"text":" macro is a crucial component within the ","type":"text"},{"text":"MavlinkDecoder","type":"text","marks":[{"type":"code"}]},{"text":" class. It allows for streamlined registration of decoder functions for distinct MAVLink message types. The macro, combined with its three parameters, facilitates the integration of a decoding function with a post-processing phase for handling decoded data.","type":"text"}]},{"type":"paragraph","content":[{"text":"Macro Parameters:","type":"text","marks":[{"type":"strong"}]}]},{"type":"orderedList","attrs":{"order":1},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"msgId (int)","type":"text","marks":[{"type":"strong"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Description:","type":"text","marks":[{"type":"strong"}]},{"text":" The unique identifier for the MAVLink message type set for decoding.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Purpose:","type":"text","marks":[{"type":"strong"}]},{"text":" Helps distinguish various MAVLink messages and associate them with their respective decoding functions.","type":"text"}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"baseName (string)","type":"text","marks":[{"type":"strong"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Description:","type":"text","marks":[{"type":"strong"}]},{"text":" Denotes the base name of the MAVLink message type.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Purpose:","type":"text","marks":[{"type":"strong"}]},{"text":" Extracted from the MAVLink message type's name by excluding the \"mavlink_\" prefix and the \"_t\" suffix. This assists in forming the decoder function name adhering to a specific naming pattern.","type":"text"}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"postProcessor (Lambda Function)","type":"text","marks":[{"type":"strong"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Description:","type":"text","marks":[{"type":"strong"}]},{"text":" A function executed after the decoding process.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Purpose:","type":"text","marks":[{"type":"strong"}]},{"text":" Enables further operations or processing on the decoded data. It's adaptable, letting users craft various functionalities as needed.","type":"text"}]}]}]}]}]},{"type":"paragraph","content":[{"text":"How it Works:","type":"text","marks":[{"type":"strong"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"When invoking the macro, a fresh entry is appended to the ","type":"text"},{"text":"decodingFunctions","type":"text","marks":[{"type":"code"}]},{"text":" map (or an equivalent structure). The ","type":"text"},{"text":"msgId","type":"text","marks":[{"type":"code"}]},{"text":" is used as the key, which maps to the lambda function designated to decode and then post-process the MAVLink message.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Inside this lambda function:","type":"text"}]},{"type":"orderedList","attrs":{"order":1},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"A new message object (","type":"text"},{"text":"msgType","type":"text","marks":[{"type":"code"}]},{"text":") is instantiated using the ","type":"text"},{"text":"baseName","type":"text","marks":[{"type":"code"}]},{"text":".","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"MAVLink decoding function decodes the message.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"The post-processing function (","type":"text"},{"text":"postProcessor","type":"text","marks":[{"type":"code"}]},{"text":") is triggered, allowing custom operations on the decoded data.","type":"text"}]}]}]}]}]},{"type":"paragraph","content":[{"text":"Example Usage:","type":"text","marks":[{"type":"strong"}]}]},{"type":"paragraph","content":[{"text":"To illustrate:","type":"text"}]},{"type":"codeBlock","attrs":{"language":"c++"},"content":[{"text":"REGISTER_DECODER(MAVLINK_MSG_ID_ATTITUDE, attitude, [](mavlink_attitude_t &message) {\n // Display the message's attributes\n std::cout << \"ATTITUDE\" << std::endl;\n std::cout << \"roll: \" << message.roll << std::endl;\n std::cout << \"pitch: \" << message.pitch << std::endl;\n std::cout << \"yaw: \" << message.yaw << std::endl;\n std::cout << \"rollspeed: \" << message.rollspeed << std::endl;\n std::cout << \"pitchspeed: \" << message.pitchspeed << std::endl;\n});","type":"text"}]},{"type":"paragraph","content":[{"text":"This demonstrates the registration of the ","type":"text"},{"text":"mavlink_attitude_t","type":"text","marks":[{"type":"code"}]},{"text":" type with the decoder and the subsequent display of its attributes post-decoding.","type":"text"}]},{"type":"paragraph","content":[{"text":"Notes:","type":"text","marks":[{"type":"strong"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"The macro promotes clean and understandable code, thus enhancing maintainability and readability.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"It encourages efficient exploitation of MAVLink decoding functions, ensuring the ","type":"text"},{"text":"MavlinkDecoder","type":"text","marks":[{"type":"code"}]},{"text":" class remains flexible and modular.","type":"text"}]}]}]},{"type":"heading","attrs":{"level":3},"content":[{"text":"IncomingData","type":"text"}]},{"type":"paragraph","content":[{"text":"The ","type":"text"},{"text":"IncomingData","type":"text","marks":[{"type":"code"}]},{"text":" structure represents incoming data for the drone. However, this struct is just a starting point. It's designed to hold various parameters such as latitude, longitude, velocities in different axes, altitude, and the pitch, roll, and yaw angles. A dedicated boolean flag accompanies each data point to signify if that data point has been initialized, ensuring data validity before processing.","type":"text"}]},{"type":"paragraph","content":[{"text":"Member Variables","type":"text","marks":[{"type":"strong"}]},{"text":":","type":"text"}]},{"type":"table","attrs":{"layout":"default","localId":"118d02d5-e4f5-4574-ac11-039d840eae72"},"content":[{"type":"tableRow","content":[{"type":"tableHeader","attrs":{"colspan":1,"background":"#ececf1","rowspan":1},"content":[{"type":"paragraph","content":[{"text":"Variable Name","type":"text","marks":[{"type":"strong"}]}]}]},{"type":"tableHeader","attrs":{"colspan":1,"background":"#ececf1","rowspan":1},"content":[{"type":"paragraph","content":[{"text":"Data Type","type":"text","marks":[{"type":"strong"}]}]}]},{"type":"tableHeader","attrs":{"colspan":1,"background":"#ececf1","rowspan":1},"content":[{"type":"paragraph","content":[{"text":"Description","type":"text","marks":[{"type":"strong"}]}]}]},{"type":"tableHeader","attrs":{"colspan":1,"background":"#ececf1","rowspan":1},"content":[{"type":"paragraph","content":[{"text":"Initialization Flag","type":"text","marks":[{"type":"strong"}]}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"latitude","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"float","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"Latitude of the drone in degrees.","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"isLatitudeInitialized","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"longitude","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"float","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"Longitude of the drone in degrees.","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"isLongitudeInitialized","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"vx","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"float","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"Velocity in the X-axis (m/s).","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"isVxInitialized","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"vy","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"float","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"Velocity in the Y-axis (m/s).","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"isVyInitialized","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"vz","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"float","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"Velocity in the Z-axis (m/s).","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"isVzInitialized","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"altitude","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"int","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"Altitude of the drone in meters.","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"isAltitudeInitialized","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"pitch","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"float","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"Pitch angle of the drone in degrees.","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"isPitchInitialized","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"roll","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"float","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"Roll angle of the drone in degrees.","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"isRollInitialized","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"yaw","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"float","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"Yaw angle of the drone in degrees.","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"isYawInitialized","type":"text"}]}]}]}]},{"type":"paragraph","content":[{"text":"Note:","type":"text","marks":[{"type":"strong"}]},{"text":" This structure MUST be modified as needed to align with the project's requirements (the required fields for the project). The current structure serves as a starting point.","type":"text"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"4. Usage Example","type":"text"}]},{"type":"orderedList","attrs":{"order":1},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Initialize the ","type":"text"},{"text":"IncomingData","type":"text","marks":[{"type":"code"}]},{"text":" object with data values.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Use ","type":"text"},{"text":"findPackingFunction","type":"text","marks":[{"type":"code"}]},{"text":" from ","type":"text"},{"text":"MavlinkEncoder","type":"text","marks":[{"type":"code"}]},{"text":" to encode data into a buffer.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Demonstrate decoding using the placeholder ","type":"text"},{"text":"MavlinkDecoder","type":"text","marks":[{"type":"code"}]},{"text":" class.","type":"text"}]}]}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"5. Testing","type":"text"}]},{"type":"heading","attrs":{"level":3},"content":[{"text":"Manual Testing","type":"text"}]},{"type":"orderedList","attrs":{"order":1},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Sample data initialized and encoding verified by observing the buffer output.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Placeholder decoding demonstrated with the sample buffer to ensure data integrity.","type":"text"}]}]}]},{"type":"heading","attrs":{"level":3},"content":[{"text":"Unit Testing","type":"text"}]},{"type":"paragraph","content":[{"text":"None","type":"text"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"6. Future Improvements","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Implement error-handling for buffer overflow scenarios.","type":"text"}]}]}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"7. References","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Official MAVLink Documentation","type":"text","marks":[{"type":"underline"},{"type":"link","attrs":{"href":"https://mavlink.io/"}}]}]}]}]},{"type":"paragraph","content":[{"type":"hardBreak"},{"text":"**Chat-GPT was use to help generate these docs**","type":"text"}]},{"type":"paragraph"}],"version":1}

Browser not supported