// MESSAGE COMMAND_LONG PACKING #define MAVLINK_MSG_ID_COMMAND_LONG 76 MAVPACKED( typedef struct __mavlink_command_long_t { float param1; /*< Parameter 1, as defined by MAV_CMD enum.*/ float param2; /*< Parameter 2, as defined by MAV_CMD enum.*/ float param3; /*< Parameter 3, as defined by MAV_CMD enum.*/ float param4; /*< Parameter 4, as defined by MAV_CMD enum.*/ float param5; /*< Parameter 5, as defined by MAV_CMD enum.*/ float param6; /*< Parameter 6, as defined by MAV_CMD enum.*/ float param7; /*< Parameter 7, as defined by MAV_CMD enum.*/ uint16_t command; /*< Command ID, as defined by MAV_CMD enum.*/ uint8_t target_system; /*< System which should execute the command*/ uint8_t target_component; /*< Component which should execute the command, 0 for all components*/ uint8_t confirmation; /*< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)*/ }) mavlink_command_long_t; #define MAVLINK_MSG_ID_COMMAND_LONG_LEN 33 #define MAVLINK_MSG_ID_COMMAND_LONG_MIN_LEN 33 #define MAVLINK_MSG_ID_76_LEN 33 #define MAVLINK_MSG_ID_76_MIN_LEN 33 #define MAVLINK_MSG_ID_COMMAND_LONG_CRC 152 #define MAVLINK_MSG_ID_76_CRC 152 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_COMMAND_LONG { \ 76, \ "COMMAND_LONG", \ 11, \ { { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_long_t, param1) }, \ { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_long_t, param2) }, \ { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_long_t, param3) }, \ { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_long_t, param4) }, \ { "param5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_long_t, param5) }, \ { "param6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_command_long_t, param6) }, \ { "param7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_command_long_t, param7) }, \ { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_command_long_t, command) }, \ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_command_long_t, target_system) }, \ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_command_long_t, target_component) }, \ { "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_command_long_t, confirmation) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_COMMAND_LONG { \ "COMMAND_LONG", \ 11, \ { { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_long_t, param1) }, \ { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_long_t, param2) }, \ { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_long_t, param3) }, \ { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_long_t, param4) }, \ { "param5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_long_t, param5) }, \ { "param6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_command_long_t, param6) }, \ { "param7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_command_long_t, param7) }, \ { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_command_long_t, command) }, \ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_command_long_t, target_system) }, \ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_command_long_t, target_component) }, \ { "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_command_long_t, confirmation) }, \ } \ } #endif /** * @brief Pack a command_long 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 target_system System which should execute the command * @param target_component Component which should execute the command, 0 for all components * @param command Command ID, as defined by MAV_CMD enum. * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) * @param param1 Parameter 1, as defined by MAV_CMD enum. * @param param2 Parameter 2, as defined by MAV_CMD enum. * @param param3 Parameter 3, as defined by MAV_CMD enum. * @param param4 Parameter 4, as defined by MAV_CMD enum. * @param param5 Parameter 5, as defined by MAV_CMD enum. * @param param6 Parameter 6, as defined by MAV_CMD enum. * @param param7 Parameter 7, as defined by MAV_CMD enum. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_command_long_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_COMMAND_LONG_LEN]; _mav_put_float(buf, 0, param1); _mav_put_float(buf, 4, param2); _mav_put_float(buf, 8, param3); _mav_put_float(buf, 12, param4); _mav_put_float(buf, 16, param5); _mav_put_float(buf, 20, param6); _mav_put_float(buf, 24, param7); _mav_put_uint16_t(buf, 28, command); _mav_put_uint8_t(buf, 30, target_system); _mav_put_uint8_t(buf, 31, target_component); _mav_put_uint8_t(buf, 32, confirmation); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN); #else mavlink_command_long_t packet; packet.param1 = param1; packet.param2 = param2; packet.param3 = param3; packet.param4 = param4; packet.param5 = param5; packet.param6 = param6; packet.param7 = param7; packet.command = command; packet.target_system = target_system; packet.target_component = target_component; packet.confirmation = confirmation; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN); #endif msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_LONG_MIN_LEN, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC); } /** * @brief Pack a command_long 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 target_system System which should execute the command * @param target_component Component which should execute the command, 0 for all components * @param command Command ID, as defined by MAV_CMD enum. * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) * @param param1 Parameter 1, as defined by MAV_CMD enum. * @param param2 Parameter 2, as defined by MAV_CMD enum. * @param param3 Parameter 3, as defined by MAV_CMD enum. * @param param4 Parameter 4, as defined by MAV_CMD enum. * @param param5 Parameter 5, as defined by MAV_CMD enum. * @param param6 Parameter 6, as defined by MAV_CMD enum. * @param param7 Parameter 7, as defined by MAV_CMD enum. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_command_long_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,uint16_t command,uint8_t confirmation,float param1,float param2,float param3,float param4,float param5,float param6,float param7) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_COMMAND_LONG_LEN]; _mav_put_float(buf, 0, param1); _mav_put_float(buf, 4, param2); _mav_put_float(buf, 8, param3); _mav_put_float(buf, 12, param4); _mav_put_float(buf, 16, param5); _mav_put_float(buf, 20, param6); _mav_put_float(buf, 24, param7); _mav_put_uint16_t(buf, 28, command); _mav_put_uint8_t(buf, 30, target_system); _mav_put_uint8_t(buf, 31, target_component); _mav_put_uint8_t(buf, 32, confirmation); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN); #else mavlink_command_long_t packet; packet.param1 = param1; packet.param2 = param2; packet.param3 = param3; packet.param4 = param4; packet.param5 = param5; packet.param6 = param6; packet.param7 = param7; packet.command = command; packet.target_system = target_system; packet.target_component = target_component; packet.confirmation = confirmation; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN); #endif msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_LONG_MIN_LEN, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC); } /** * @brief Encode a command_long 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 command_long C-struct to read the message contents from */ static inline uint16_t mavlink_msg_command_long_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_long_t* command_long) { return mavlink_msg_command_long_pack(system_id, component_id, msg, command_long->target_system, command_long->target_component, command_long->command, command_long->confirmation, command_long->param1, command_long->param2, command_long->param3, command_long->param4, command_long->param5, command_long->param6, command_long->param7); } /** * @brief Encode a command_long 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 command_long C-struct to read the message contents from */ static inline uint16_t mavlink_msg_command_long_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_command_long_t* command_long) { return mavlink_msg_command_long_pack_chan(system_id, component_id, chan, msg, command_long->target_system, command_long->target_component, command_long->command, command_long->confirmation, command_long->param1, command_long->param2, command_long->param3, command_long->param4, command_long->param5, command_long->param6, command_long->param7); } /** * @brief Send a command_long message * @param chan MAVLink channel to send the message * * @param target_system System which should execute the command * @param target_component Component which should execute the command, 0 for all components * @param command Command ID, as defined by MAV_CMD enum. * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) * @param param1 Parameter 1, as defined by MAV_CMD enum. * @param param2 Parameter 2, as defined by MAV_CMD enum. * @param param3 Parameter 3, as defined by MAV_CMD enum. * @param param4 Parameter 4, as defined by MAV_CMD enum. * @param param5 Parameter 5, as defined by MAV_CMD enum. * @param param6 Parameter 6, as defined by MAV_CMD enum. * @param param7 Parameter 7, as defined by MAV_CMD enum. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_command_long_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_COMMAND_LONG_LEN]; _mav_put_float(buf, 0, param1); _mav_put_float(buf, 4, param2); _mav_put_float(buf, 8, param3); _mav_put_float(buf, 12, param4); _mav_put_float(buf, 16, param5); _mav_put_float(buf, 20, param6); _mav_put_float(buf, 24, param7); _mav_put_uint16_t(buf, 28, command); _mav_put_uint8_t(buf, 30, target_system); _mav_put_uint8_t(buf, 31, target_component); _mav_put_uint8_t(buf, 32, confirmation); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, MAVLINK_MSG_ID_COMMAND_LONG_MIN_LEN, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC); #else mavlink_command_long_t packet; packet.param1 = param1; packet.param2 = param2; packet.param3 = param3; packet.param4 = param4; packet.param5 = param5; packet.param6 = param6; packet.param7 = param7; packet.command = command; packet.target_system = target_system; packet.target_component = target_component; packet.confirmation = confirmation; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_LONG_MIN_LEN, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC); #endif } /** * @brief Send a command_long message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_command_long_send_struct(mavlink_channel_t chan, const mavlink_command_long_t* command_long) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_command_long_send(chan, command_long->target_system, command_long->target_component, command_long->command, command_long->confirmation, command_long->param1, command_long->param2, command_long->param3, command_long->param4, command_long->param5, command_long->param6, command_long->param7); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)command_long, MAVLINK_MSG_ID_COMMAND_LONG_MIN_LEN, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC); #endif } #if MAVLINK_MSG_ID_COMMAND_LONG_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_command_long_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_float(buf, 0, param1); _mav_put_float(buf, 4, param2); _mav_put_float(buf, 8, param3); _mav_put_float(buf, 12, param4); _mav_put_float(buf, 16, param5); _mav_put_float(buf, 20, param6); _mav_put_float(buf, 24, param7); _mav_put_uint16_t(buf, 28, command); _mav_put_uint8_t(buf, 30, target_system); _mav_put_uint8_t(buf, 31, target_component); _mav_put_uint8_t(buf, 32, confirmation); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, MAVLINK_MSG_ID_COMMAND_LONG_MIN_LEN, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC); #else mavlink_command_long_t *packet = (mavlink_command_long_t *)msgbuf; packet->param1 = param1; packet->param2 = param2; packet->param3 = param3; packet->param4 = param4; packet->param5 = param5; packet->param6 = param6; packet->param7 = param7; packet->command = command; packet->target_system = target_system; packet->target_component = target_component; packet->confirmation = confirmation; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)packet, MAVLINK_MSG_ID_COMMAND_LONG_MIN_LEN, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC); #endif } #endif #endif // MESSAGE COMMAND_LONG UNPACKING /** * @brief Get field target_system from command_long message * * @return System which should execute the command */ static inline uint8_t mavlink_msg_command_long_get_target_system(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 30); } /** * @brief Get field target_component from command_long message * * @return Component which should execute the command, 0 for all components */ static inline uint8_t mavlink_msg_command_long_get_target_component(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 31); } /** * @brief Get field command from command_long message * * @return Command ID, as defined by MAV_CMD enum. */ static inline uint16_t mavlink_msg_command_long_get_command(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 28); } /** * @brief Get field confirmation from command_long message * * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) */ static inline uint8_t mavlink_msg_command_long_get_confirmation(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 32); } /** * @brief Get field param1 from command_long message * * @return Parameter 1, as defined by MAV_CMD enum. */ static inline float mavlink_msg_command_long_get_param1(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 0); } /** * @brief Get field param2 from command_long message * * @return Parameter 2, as defined by MAV_CMD enum. */ static inline float mavlink_msg_command_long_get_param2(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 4); } /** * @brief Get field param3 from command_long message * * @return Parameter 3, as defined by MAV_CMD enum. */ static inline float mavlink_msg_command_long_get_param3(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field param4 from command_long message * * @return Parameter 4, as defined by MAV_CMD enum. */ static inline float mavlink_msg_command_long_get_param4(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field param5 from command_long message * * @return Parameter 5, as defined by MAV_CMD enum. */ static inline float mavlink_msg_command_long_get_param5(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field param6 from command_long message * * @return Parameter 6, as defined by MAV_CMD enum. */ static inline float mavlink_msg_command_long_get_param6(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Get field param7 from command_long message * * @return Parameter 7, as defined by MAV_CMD enum. */ static inline float mavlink_msg_command_long_get_param7(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Decode a command_long message into a struct * * @param msg The message to decode * @param command_long C-struct to decode the message contents into */ static inline void mavlink_msg_command_long_decode(const mavlink_message_t* msg, mavlink_command_long_t* command_long) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS command_long->param1 = mavlink_msg_command_long_get_param1(msg); command_long->param2 = mavlink_msg_command_long_get_param2(msg); command_long->param3 = mavlink_msg_command_long_get_param3(msg); command_long->param4 = mavlink_msg_command_long_get_param4(msg); command_long->param5 = mavlink_msg_command_long_get_param5(msg); command_long->param6 = mavlink_msg_command_long_get_param6(msg); command_long->param7 = mavlink_msg_command_long_get_param7(msg); command_long->command = mavlink_msg_command_long_get_command(msg); command_long->target_system = mavlink_msg_command_long_get_target_system(msg); command_long->target_component = mavlink_msg_command_long_get_target_component(msg); command_long->confirmation = mavlink_msg_command_long_get_confirmation(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_COMMAND_LONG_LEN? msg->len : MAVLINK_MSG_ID_COMMAND_LONG_LEN; memset(command_long, 0, MAVLINK_MSG_ID_COMMAND_LONG_LEN); memcpy(command_long, _MAV_PAYLOAD(msg), len); #endif }