// MESSAGE HIL_CONTROLS PACKING #define MAVLINK_MSG_ID_HIL_CONTROLS 91 MAVPACKED( typedef struct __mavlink_hil_controls_t { uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/ float roll_ailerons; /*< Control output -1 .. 1*/ float pitch_elevator; /*< Control output -1 .. 1*/ float yaw_rudder; /*< Control output -1 .. 1*/ float throttle; /*< Throttle 0 .. 1*/ float aux1; /*< Aux 1, -1 .. 1*/ float aux2; /*< Aux 2, -1 .. 1*/ float aux3; /*< Aux 3, -1 .. 1*/ float aux4; /*< Aux 4, -1 .. 1*/ uint8_t mode; /*< System mode (MAV_MODE)*/ uint8_t nav_mode; /*< Navigation mode (MAV_NAV_MODE)*/ }) mavlink_hil_controls_t; #define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 42 #define MAVLINK_MSG_ID_HIL_CONTROLS_MIN_LEN 42 #define MAVLINK_MSG_ID_91_LEN 42 #define MAVLINK_MSG_ID_91_MIN_LEN 42 #define MAVLINK_MSG_ID_HIL_CONTROLS_CRC 63 #define MAVLINK_MSG_ID_91_CRC 63 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \ 91, \ "HIL_CONTROLS", \ 11, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_usec) }, \ { "roll_ailerons", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \ { "pitch_elevator", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \ { "yaw_rudder", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \ { "throttle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \ { "aux1", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_controls_t, aux1) }, \ { "aux2", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_controls_t, aux2) }, \ { "aux3", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_controls_t, aux3) }, \ { "aux4", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_controls_t, aux4) }, \ { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_hil_controls_t, mode) }, \ { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_hil_controls_t, nav_mode) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \ "HIL_CONTROLS", \ 11, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_usec) }, \ { "roll_ailerons", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \ { "pitch_elevator", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \ { "yaw_rudder", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \ { "throttle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \ { "aux1", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_controls_t, aux1) }, \ { "aux2", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_controls_t, aux2) }, \ { "aux3", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_controls_t, aux3) }, \ { "aux4", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_controls_t, aux4) }, \ { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_hil_controls_t, mode) }, \ { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_hil_controls_t, nav_mode) }, \ } \ } #endif /** * @brief Pack a hil_controls 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 (microseconds since UNIX epoch or microseconds since system boot) * @param roll_ailerons Control output -1 .. 1 * @param pitch_elevator Control output -1 .. 1 * @param yaw_rudder Control output -1 .. 1 * @param throttle Throttle 0 .. 1 * @param aux1 Aux 1, -1 .. 1 * @param aux2 Aux 2, -1 .. 1 * @param aux3 Aux 3, -1 .. 1 * @param aux4 Aux 4, -1 .. 1 * @param mode System mode (MAV_MODE) * @param nav_mode Navigation mode (MAV_NAV_MODE) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIL_CONTROLS_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, roll_ailerons); _mav_put_float(buf, 12, pitch_elevator); _mav_put_float(buf, 16, yaw_rudder); _mav_put_float(buf, 20, throttle); _mav_put_float(buf, 24, aux1); _mav_put_float(buf, 28, aux2); _mav_put_float(buf, 32, aux3); _mav_put_float(buf, 36, aux4); _mav_put_uint8_t(buf, 40, mode); _mav_put_uint8_t(buf, 41, nav_mode); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); #else mavlink_hil_controls_t packet; packet.time_usec = time_usec; packet.roll_ailerons = roll_ailerons; packet.pitch_elevator = pitch_elevator; packet.yaw_rudder = yaw_rudder; packet.throttle = throttle; packet.aux1 = aux1; packet.aux2 = aux2; packet.aux3 = aux3; packet.aux4 = aux4; packet.mode = mode; packet.nav_mode = nav_mode; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); #endif msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC); } /** * @brief Pack a hil_controls 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 (microseconds since UNIX epoch or microseconds since system boot) * @param roll_ailerons Control output -1 .. 1 * @param pitch_elevator Control output -1 .. 1 * @param yaw_rudder Control output -1 .. 1 * @param throttle Throttle 0 .. 1 * @param aux1 Aux 1, -1 .. 1 * @param aux2 Aux 2, -1 .. 1 * @param aux3 Aux 3, -1 .. 1 * @param aux4 Aux 4, -1 .. 1 * @param mode System mode (MAV_MODE) * @param nav_mode Navigation mode (MAV_NAV_MODE) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_usec,float roll_ailerons,float pitch_elevator,float yaw_rudder,float throttle,float aux1,float aux2,float aux3,float aux4,uint8_t mode,uint8_t nav_mode) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIL_CONTROLS_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, roll_ailerons); _mav_put_float(buf, 12, pitch_elevator); _mav_put_float(buf, 16, yaw_rudder); _mav_put_float(buf, 20, throttle); _mav_put_float(buf, 24, aux1); _mav_put_float(buf, 28, aux2); _mav_put_float(buf, 32, aux3); _mav_put_float(buf, 36, aux4); _mav_put_uint8_t(buf, 40, mode); _mav_put_uint8_t(buf, 41, nav_mode); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); #else mavlink_hil_controls_t packet; packet.time_usec = time_usec; packet.roll_ailerons = roll_ailerons; packet.pitch_elevator = pitch_elevator; packet.yaw_rudder = yaw_rudder; packet.throttle = throttle; packet.aux1 = aux1; packet.aux2 = aux2; packet.aux3 = aux3; packet.aux4 = aux4; packet.mode = mode; packet.nav_mode = nav_mode; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); #endif msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC); } /** * @brief Encode a hil_controls 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 hil_controls C-struct to read the message contents from */ static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls) { return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode); } /** * @brief Encode a hil_controls 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 hil_controls C-struct to read the message contents from */ static inline uint16_t mavlink_msg_hil_controls_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls) { return mavlink_msg_hil_controls_pack_chan(system_id, component_id, chan, msg, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode); } /** * @brief Send a hil_controls message * @param chan MAVLink channel to send the message * * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param roll_ailerons Control output -1 .. 1 * @param pitch_elevator Control output -1 .. 1 * @param yaw_rudder Control output -1 .. 1 * @param throttle Throttle 0 .. 1 * @param aux1 Aux 1, -1 .. 1 * @param aux2 Aux 2, -1 .. 1 * @param aux3 Aux 3, -1 .. 1 * @param aux4 Aux 4, -1 .. 1 * @param mode System mode (MAV_MODE) * @param nav_mode Navigation mode (MAV_NAV_MODE) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIL_CONTROLS_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, roll_ailerons); _mav_put_float(buf, 12, pitch_elevator); _mav_put_float(buf, 16, yaw_rudder); _mav_put_float(buf, 20, throttle); _mav_put_float(buf, 24, aux1); _mav_put_float(buf, 28, aux2); _mav_put_float(buf, 32, aux3); _mav_put_float(buf, 36, aux4); _mav_put_uint8_t(buf, 40, mode); _mav_put_uint8_t(buf, 41, nav_mode); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, MAVLINK_MSG_ID_HIL_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC); #else mavlink_hil_controls_t packet; packet.time_usec = time_usec; packet.roll_ailerons = roll_ailerons; packet.pitch_elevator = pitch_elevator; packet.yaw_rudder = yaw_rudder; packet.throttle = throttle; packet.aux1 = aux1; packet.aux2 = aux2; packet.aux3 = aux3; packet.aux4 = aux4; packet.mode = mode; packet.nav_mode = nav_mode; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, MAVLINK_MSG_ID_HIL_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC); #endif } /** * @brief Send a hil_controls message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_hil_controls_send_struct(mavlink_channel_t chan, const mavlink_hil_controls_t* hil_controls) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_hil_controls_send(chan, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)hil_controls, MAVLINK_MSG_ID_HIL_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC); #endif } #if MAVLINK_MSG_ID_HIL_CONTROLS_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_hil_controls_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, roll_ailerons); _mav_put_float(buf, 12, pitch_elevator); _mav_put_float(buf, 16, yaw_rudder); _mav_put_float(buf, 20, throttle); _mav_put_float(buf, 24, aux1); _mav_put_float(buf, 28, aux2); _mav_put_float(buf, 32, aux3); _mav_put_float(buf, 36, aux4); _mav_put_uint8_t(buf, 40, mode); _mav_put_uint8_t(buf, 41, nav_mode); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, MAVLINK_MSG_ID_HIL_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC); #else mavlink_hil_controls_t *packet = (mavlink_hil_controls_t *)msgbuf; packet->time_usec = time_usec; packet->roll_ailerons = roll_ailerons; packet->pitch_elevator = pitch_elevator; packet->yaw_rudder = yaw_rudder; packet->throttle = throttle; packet->aux1 = aux1; packet->aux2 = aux2; packet->aux3 = aux3; packet->aux4 = aux4; packet->mode = mode; packet->nav_mode = nav_mode; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)packet, MAVLINK_MSG_ID_HIL_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC); #endif } #endif #endif // MESSAGE HIL_CONTROLS UNPACKING /** * @brief Get field time_usec from hil_controls message * * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) */ static inline uint64_t mavlink_msg_hil_controls_get_time_usec(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 0); } /** * @brief Get field roll_ailerons from hil_controls message * * @return Control output -1 .. 1 */ static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field pitch_elevator from hil_controls message * * @return Control output -1 .. 1 */ static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field yaw_rudder from hil_controls message * * @return Control output -1 .. 1 */ static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field throttle from hil_controls message * * @return Throttle 0 .. 1 */ static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Get field aux1 from hil_controls message * * @return Aux 1, -1 .. 1 */ static inline float mavlink_msg_hil_controls_get_aux1(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Get field aux2 from hil_controls message * * @return Aux 2, -1 .. 1 */ static inline float mavlink_msg_hil_controls_get_aux2(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 28); } /** * @brief Get field aux3 from hil_controls message * * @return Aux 3, -1 .. 1 */ static inline float mavlink_msg_hil_controls_get_aux3(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 32); } /** * @brief Get field aux4 from hil_controls message * * @return Aux 4, -1 .. 1 */ static inline float mavlink_msg_hil_controls_get_aux4(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 36); } /** * @brief Get field mode from hil_controls message * * @return System mode (MAV_MODE) */ static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 40); } /** * @brief Get field nav_mode from hil_controls message * * @return Navigation mode (MAV_NAV_MODE) */ static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 41); } /** * @brief Decode a hil_controls message into a struct * * @param msg The message to decode * @param hil_controls C-struct to decode the message contents into */ static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS hil_controls->time_usec = mavlink_msg_hil_controls_get_time_usec(msg); hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg); hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg); hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg); hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg); hil_controls->aux1 = mavlink_msg_hil_controls_get_aux1(msg); hil_controls->aux2 = mavlink_msg_hil_controls_get_aux2(msg); hil_controls->aux3 = mavlink_msg_hil_controls_get_aux3(msg); hil_controls->aux4 = mavlink_msg_hil_controls_get_aux4(msg); hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg); hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_CONTROLS_LEN? msg->len : MAVLINK_MSG_ID_HIL_CONTROLS_LEN; memset(hil_controls, 0, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); memcpy(hil_controls, _MAV_PAYLOAD(msg), len); #endif }