// MESSAGE SET_ACTUATOR_CONTROL_TARGET PACKING #define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET 139 typedef struct MAVLINK_PACKED __mavlink_set_actuator_control_target_t { uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/ float controls[8]; /*< Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.*/ uint8_t group_mlx; /*< Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.*/ uint8_t target_system; /*< System ID*/ uint8_t target_component; /*< Component ID*/ } mavlink_set_actuator_control_target_t; #define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN 43 #define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN 43 #define MAVLINK_MSG_ID_139_LEN 43 #define MAVLINK_MSG_ID_139_MIN_LEN 43 #define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC 168 #define MAVLINK_MSG_ID_139_CRC 168 #define MAVLINK_MSG_SET_ACTUATOR_CONTROL_TARGET_FIELD_CONTROLS_LEN 8 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_SET_ACTUATOR_CONTROL_TARGET { \ 139, \ "SET_ACTUATOR_CONTROL_TARGET", \ 5, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_set_actuator_control_target_t, time_usec) }, \ { "controls", NULL, MAVLINK_TYPE_FLOAT, 8, 8, offsetof(mavlink_set_actuator_control_target_t, controls) }, \ { "group_mlx", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_set_actuator_control_target_t, group_mlx) }, \ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_set_actuator_control_target_t, target_system) }, \ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_set_actuator_control_target_t, target_component) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_SET_ACTUATOR_CONTROL_TARGET { \ "SET_ACTUATOR_CONTROL_TARGET", \ 5, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_set_actuator_control_target_t, time_usec) }, \ { "controls", NULL, MAVLINK_TYPE_FLOAT, 8, 8, offsetof(mavlink_set_actuator_control_target_t, controls) }, \ { "group_mlx", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_set_actuator_control_target_t, group_mlx) }, \ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_set_actuator_control_target_t, target_system) }, \ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_set_actuator_control_target_t, target_component) }, \ } \ } #endif /** * @brief Pack a set_actuator_control_target 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 time_usec Timestamp (micros since boot or Unix epoch) * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances. * @param target_system System ID * @param target_component Component ID * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_set_actuator_control_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_usec, uint8_t group_mlx, uint8_t target_system, uint8_t target_component, const float *controls) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_uint8_t(buf, 40, group_mlx); _mav_put_uint8_t(buf, 41, target_system); _mav_put_uint8_t(buf, 42, target_component); _mav_put_float_array(buf, 8, controls, 8); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN); #else mavlink_set_actuator_control_target_t packet; packet.time_usec = time_usec; packet.group_mlx = group_mlx; packet.target_system = target_system; packet.target_component = target_component; mav_array_memcpy(packet.controls, controls, sizeof(float)*8); memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN); #endif msg->msgid = MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC); } /** * @brief Pack a set_actuator_control_target 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 will be sent over * @param msg The MAVLink message to compress the data into * @param time_usec Timestamp (micros since boot or Unix epoch) * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances. * @param target_system System ID * @param target_component Component ID * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_set_actuator_control_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_usec,uint8_t group_mlx,uint8_t target_system,uint8_t target_component,const float *controls) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_uint8_t(buf, 40, group_mlx); _mav_put_uint8_t(buf, 41, target_system); _mav_put_uint8_t(buf, 42, target_component); _mav_put_float_array(buf, 8, controls, 8); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN); #else mavlink_set_actuator_control_target_t packet; packet.time_usec = time_usec; packet.group_mlx = group_mlx; packet.target_system = target_system; packet.target_component = target_component; mav_array_memcpy(packet.controls, controls, sizeof(float)*8); memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN); #endif msg->msgid = MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC); } /** * @brief Encode a set_actuator_control_target struct * * @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 set_actuator_control_target C-struct to read the message contents from */ static inline uint16_t mavlink_msg_set_actuator_control_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_actuator_control_target_t* set_actuator_control_target) { return mavlink_msg_set_actuator_control_target_pack(system_id, component_id, msg, set_actuator_control_target->time_usec, set_actuator_control_target->group_mlx, set_actuator_control_target->target_system, set_actuator_control_target->target_component, set_actuator_control_target->controls); } /** * @brief Encode a set_actuator_control_target struct 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 will be sent over * @param msg The MAVLink message to compress the data into * @param set_actuator_control_target C-struct to read the message contents from */ static inline uint16_t mavlink_msg_set_actuator_control_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_actuator_control_target_t* set_actuator_control_target) { return mavlink_msg_set_actuator_control_target_pack_chan(system_id, component_id, chan, msg, set_actuator_control_target->time_usec, set_actuator_control_target->group_mlx, set_actuator_control_target->target_system, set_actuator_control_target->target_component, set_actuator_control_target->controls); } /** * @brief Send a set_actuator_control_target message * @param chan MAVLink channel to send the message * * @param time_usec Timestamp (micros since boot or Unix epoch) * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances. * @param target_system System ID * @param target_component Component ID * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_set_actuator_control_target_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t group_mlx, uint8_t target_system, uint8_t target_component, const float *controls) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_uint8_t(buf, 40, group_mlx); _mav_put_uint8_t(buf, 41, target_system); _mav_put_uint8_t(buf, 42, target_component); _mav_put_float_array(buf, 8, controls, 8); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC); #else mavlink_set_actuator_control_target_t packet; packet.time_usec = time_usec; packet.group_mlx = group_mlx; packet.target_system = target_system; packet.target_component = target_component; mav_array_memcpy(packet.controls, controls, sizeof(float)*8); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, (const char *)&packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC); #endif } /** * @brief Send a set_actuator_control_target message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_set_actuator_control_target_send_struct(mavlink_channel_t chan, const mavlink_set_actuator_control_target_t* set_actuator_control_target) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_set_actuator_control_target_send(chan, set_actuator_control_target->time_usec, set_actuator_control_target->group_mlx, set_actuator_control_target->target_system, set_actuator_control_target->target_component, set_actuator_control_target->controls); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, (const char *)set_actuator_control_target, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC); #endif } #if MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient of _send() can be used to save stack space by re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ static inline void mavlink_msg_set_actuator_control_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t group_mlx, uint8_t target_system, uint8_t target_component, const float *controls) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_uint8_t(buf, 40, group_mlx); _mav_put_uint8_t(buf, 41, target_system); _mav_put_uint8_t(buf, 42, target_component); _mav_put_float_array(buf, 8, controls, 8); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC); #else mavlink_set_actuator_control_target_t *packet = (mavlink_set_actuator_control_target_t *)msgbuf; packet->time_usec = time_usec; packet->group_mlx = group_mlx; packet->target_system = target_system; packet->target_component = target_component; mav_array_memcpy(packet->controls, controls, sizeof(float)*8); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, (const char *)packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC); #endif } #endif #endif // MESSAGE SET_ACTUATOR_CONTROL_TARGET UNPACKING /** * @brief Get field time_usec from set_actuator_control_target message * * @return Timestamp (micros since boot or Unix epoch) */ static inline uint64_t mavlink_msg_set_actuator_control_target_get_time_usec(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 0); } /** * @brief Get field group_mlx from set_actuator_control_target message * * @return Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances. */ static inline uint8_t mavlink_msg_set_actuator_control_target_get_group_mlx(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 40); } /** * @brief Get field target_system from set_actuator_control_target message * * @return System ID */ static inline uint8_t mavlink_msg_set_actuator_control_target_get_target_system(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 41); } /** * @brief Get field target_component from set_actuator_control_target message * * @return Component ID */ static inline uint8_t mavlink_msg_set_actuator_control_target_get_target_component(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 42); } /** * @brief Get field controls from set_actuator_control_target message * * @return Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs. */ static inline uint16_t mavlink_msg_set_actuator_control_target_get_controls(const mavlink_message_t* msg, float *controls) { return _MAV_RETURN_float_array(msg, controls, 8, 8); } /** * @brief Decode a set_actuator_control_target message into a struct * * @param msg The message to decode * @param set_actuator_control_target C-struct to decode the message contents into */ static inline void mavlink_msg_set_actuator_control_target_decode(const mavlink_message_t* msg, mavlink_set_actuator_control_target_t* set_actuator_control_target) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS set_actuator_control_target->time_usec = mavlink_msg_set_actuator_control_target_get_time_usec(msg); mavlink_msg_set_actuator_control_target_get_controls(msg, set_actuator_control_target->controls); set_actuator_control_target->group_mlx = mavlink_msg_set_actuator_control_target_get_group_mlx(msg); set_actuator_control_target->target_system = mavlink_msg_set_actuator_control_target_get_target_system(msg); set_actuator_control_target->target_component = mavlink_msg_set_actuator_control_target_get_target_component(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN? msg->len : MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN; memset(set_actuator_control_target, 0, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN); memcpy(set_actuator_control_target, _MAV_PAYLOAD(msg), len); #endif }