1 | // MESSAGE MANUAL_CONTROL PACKING |
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2 | |
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3 | #define MAVLINK_MSG_ID_MANUAL_CONTROL 69 |
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4 | |
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5 | MAVPACKED( |
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6 | typedef struct __mavlink_manual_control_t { |
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7 | int16_t x; /*< X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.*/ |
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8 | int16_t y; /*< Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.*/ |
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9 | int16_t z; /*< Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.*/ |
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10 | int16_t r; /*< R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.*/ |
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11 | uint16_t buttons; /*< A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.*/ |
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12 | uint8_t target; /*< The system to be controlled.*/ |
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13 | }) mavlink_manual_control_t; |
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14 | |
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15 | #define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 11 |
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16 | #define MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN 11 |
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17 | #define MAVLINK_MSG_ID_69_LEN 11 |
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18 | #define MAVLINK_MSG_ID_69_MIN_LEN 11 |
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19 | |
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20 | #define MAVLINK_MSG_ID_MANUAL_CONTROL_CRC 243 |
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21 | #define MAVLINK_MSG_ID_69_CRC 243 |
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22 | |
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23 | |
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24 | |
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25 | #if MAVLINK_COMMAND_24BIT |
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26 | #define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \ |
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27 | 69, \ |
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28 | "MANUAL_CONTROL", \ |
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29 | 6, \ |
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30 | { { "x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_manual_control_t, x) }, \ |
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31 | { "y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_manual_control_t, y) }, \ |
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32 | { "z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_manual_control_t, z) }, \ |
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33 | { "r", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_manual_control_t, r) }, \ |
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34 | { "buttons", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_manual_control_t, buttons) }, \ |
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35 | { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_manual_control_t, target) }, \ |
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36 | } \ |
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37 | } |
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38 | #else |
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39 | #define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \ |
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40 | "MANUAL_CONTROL", \ |
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41 | 6, \ |
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42 | { { "x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_manual_control_t, x) }, \ |
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43 | { "y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_manual_control_t, y) }, \ |
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44 | { "z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_manual_control_t, z) }, \ |
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45 | { "r", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_manual_control_t, r) }, \ |
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46 | { "buttons", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_manual_control_t, buttons) }, \ |
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47 | { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_manual_control_t, target) }, \ |
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48 | } \ |
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49 | } |
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50 | #endif |
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51 | |
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52 | /** |
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53 | * @brief Pack a manual_control message |
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54 | * @param system_id ID of this system |
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55 | * @param component_id ID of this component (e.g. 200 for IMU) |
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56 | * @param msg The MAVLink message to compress the data into |
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57 | * |
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58 | * @param target The system to be controlled. |
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59 | * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. |
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60 | * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. |
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61 | * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust. |
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62 | * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. |
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63 | * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. |
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64 | * @return length of the message in bytes (excluding serial stream start sign) |
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65 | */ |
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66 | static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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67 | uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons) |
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68 | { |
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69 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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70 | char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN]; |
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71 | _mav_put_int16_t(buf, 0, x); |
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72 | _mav_put_int16_t(buf, 2, y); |
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73 | _mav_put_int16_t(buf, 4, z); |
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74 | _mav_put_int16_t(buf, 6, r); |
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75 | _mav_put_uint16_t(buf, 8, buttons); |
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76 | _mav_put_uint8_t(buf, 10, target); |
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77 | |
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78 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); |
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79 | #else |
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80 | mavlink_manual_control_t packet; |
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81 | packet.x = x; |
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82 | packet.y = y; |
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83 | packet.z = z; |
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84 | packet.r = r; |
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85 | packet.buttons = buttons; |
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86 | packet.target = target; |
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87 | |
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88 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); |
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89 | #endif |
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90 | |
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91 | msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; |
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92 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); |
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93 | } |
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94 | |
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95 | /** |
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96 | * @brief Pack a manual_control message on a channel |
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97 | * @param system_id ID of this system |
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98 | * @param component_id ID of this component (e.g. 200 for IMU) |
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99 | * @param chan The MAVLink channel this message will be sent over |
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100 | * @param msg The MAVLink message to compress the data into |
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101 | * @param target The system to be controlled. |
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102 | * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. |
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103 | * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. |
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104 | * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust. |
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105 | * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. |
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106 | * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. |
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107 | * @return length of the message in bytes (excluding serial stream start sign) |
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108 | */ |
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109 | static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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110 | mavlink_message_t* msg, |
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111 | uint8_t target,int16_t x,int16_t y,int16_t z,int16_t r,uint16_t buttons) |
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112 | { |
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113 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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114 | char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN]; |
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115 | _mav_put_int16_t(buf, 0, x); |
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116 | _mav_put_int16_t(buf, 2, y); |
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117 | _mav_put_int16_t(buf, 4, z); |
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118 | _mav_put_int16_t(buf, 6, r); |
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119 | _mav_put_uint16_t(buf, 8, buttons); |
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120 | _mav_put_uint8_t(buf, 10, target); |
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121 | |
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122 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); |
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123 | #else |
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124 | mavlink_manual_control_t packet; |
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125 | packet.x = x; |
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126 | packet.y = y; |
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127 | packet.z = z; |
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128 | packet.r = r; |
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129 | packet.buttons = buttons; |
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130 | packet.target = target; |
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131 | |
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132 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); |
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133 | #endif |
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134 | |
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135 | msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; |
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136 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); |
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137 | } |
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138 | |
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139 | /** |
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140 | * @brief Encode a manual_control struct |
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141 | * |
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142 | * @param system_id ID of this system |
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143 | * @param component_id ID of this component (e.g. 200 for IMU) |
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144 | * @param msg The MAVLink message to compress the data into |
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145 | * @param manual_control C-struct to read the message contents from |
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146 | */ |
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147 | static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control) |
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148 | { |
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149 | return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons); |
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150 | } |
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151 | |
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152 | /** |
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153 | * @brief Encode a manual_control struct on a channel |
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154 | * |
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155 | * @param system_id ID of this system |
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156 | * @param component_id ID of this component (e.g. 200 for IMU) |
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157 | * @param chan The MAVLink channel this message will be sent over |
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158 | * @param msg The MAVLink message to compress the data into |
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159 | * @param manual_control C-struct to read the message contents from |
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160 | */ |
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161 | static inline uint16_t mavlink_msg_manual_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control) |
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162 | { |
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163 | return mavlink_msg_manual_control_pack_chan(system_id, component_id, chan, msg, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons); |
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164 | } |
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165 | |
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166 | /** |
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167 | * @brief Send a manual_control message |
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168 | * @param chan MAVLink channel to send the message |
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169 | * |
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170 | * @param target The system to be controlled. |
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171 | * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. |
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172 | * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. |
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173 | * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust. |
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174 | * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. |
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175 | * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. |
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176 | */ |
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177 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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178 | |
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179 | static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons) |
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180 | { |
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181 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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182 | char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN]; |
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183 | _mav_put_int16_t(buf, 0, x); |
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184 | _mav_put_int16_t(buf, 2, y); |
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185 | _mav_put_int16_t(buf, 4, z); |
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186 | _mav_put_int16_t(buf, 6, r); |
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187 | _mav_put_uint16_t(buf, 8, buttons); |
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188 | _mav_put_uint8_t(buf, 10, target); |
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189 | |
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190 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); |
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191 | #else |
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192 | mavlink_manual_control_t packet; |
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193 | packet.x = x; |
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194 | packet.y = y; |
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195 | packet.z = z; |
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196 | packet.r = r; |
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197 | packet.buttons = buttons; |
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198 | packet.target = target; |
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199 | |
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200 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); |
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201 | #endif |
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202 | } |
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203 | |
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204 | /** |
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205 | * @brief Send a manual_control message |
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206 | * @param chan MAVLink channel to send the message |
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207 | * @param struct The MAVLink struct to serialize |
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208 | */ |
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209 | static inline void mavlink_msg_manual_control_send_struct(mavlink_channel_t chan, const mavlink_manual_control_t* manual_control) |
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210 | { |
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211 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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212 | mavlink_msg_manual_control_send(chan, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons); |
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213 | #else |
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214 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)manual_control, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); |
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215 | #endif |
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216 | } |
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217 | |
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218 | #if MAVLINK_MSG_ID_MANUAL_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN |
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219 | /* |
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220 | This varient of _send() can be used to save stack space by re-using |
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221 | memory from the receive buffer. The caller provides a |
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222 | mavlink_message_t which is the size of a full mavlink message. This |
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223 | is usually the receive buffer for the channel, and allows a reply to an |
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224 | incoming message with minimum stack space usage. |
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225 | */ |
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226 | static inline void mavlink_msg_manual_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons) |
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227 | { |
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228 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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229 | char *buf = (char *)msgbuf; |
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230 | _mav_put_int16_t(buf, 0, x); |
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231 | _mav_put_int16_t(buf, 2, y); |
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232 | _mav_put_int16_t(buf, 4, z); |
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233 | _mav_put_int16_t(buf, 6, r); |
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234 | _mav_put_uint16_t(buf, 8, buttons); |
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235 | _mav_put_uint8_t(buf, 10, target); |
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236 | |
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237 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); |
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238 | #else |
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239 | mavlink_manual_control_t *packet = (mavlink_manual_control_t *)msgbuf; |
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240 | packet->x = x; |
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241 | packet->y = y; |
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242 | packet->z = z; |
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243 | packet->r = r; |
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244 | packet->buttons = buttons; |
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245 | packet->target = target; |
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246 | |
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247 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); |
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248 | #endif |
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249 | } |
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250 | #endif |
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251 | |
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252 | #endif |
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253 | |
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254 | // MESSAGE MANUAL_CONTROL UNPACKING |
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255 | |
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256 | |
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257 | /** |
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258 | * @brief Get field target from manual_control message |
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259 | * |
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260 | * @return The system to be controlled. |
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261 | */ |
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262 | static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_message_t* msg) |
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263 | { |
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264 | return _MAV_RETURN_uint8_t(msg, 10); |
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265 | } |
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266 | |
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267 | /** |
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268 | * @brief Get field x from manual_control message |
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269 | * |
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270 | * @return X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. |
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271 | */ |
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272 | static inline int16_t mavlink_msg_manual_control_get_x(const mavlink_message_t* msg) |
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273 | { |
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274 | return _MAV_RETURN_int16_t(msg, 0); |
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275 | } |
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276 | |
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277 | /** |
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278 | * @brief Get field y from manual_control message |
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279 | * |
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280 | * @return Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. |
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281 | */ |
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282 | static inline int16_t mavlink_msg_manual_control_get_y(const mavlink_message_t* msg) |
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283 | { |
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284 | return _MAV_RETURN_int16_t(msg, 2); |
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285 | } |
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286 | |
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287 | /** |
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288 | * @brief Get field z from manual_control message |
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289 | * |
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290 | * @return Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust. |
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291 | */ |
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292 | static inline int16_t mavlink_msg_manual_control_get_z(const mavlink_message_t* msg) |
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293 | { |
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294 | return _MAV_RETURN_int16_t(msg, 4); |
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295 | } |
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296 | |
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297 | /** |
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298 | * @brief Get field r from manual_control message |
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299 | * |
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300 | * @return R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. |
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301 | */ |
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302 | static inline int16_t mavlink_msg_manual_control_get_r(const mavlink_message_t* msg) |
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303 | { |
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304 | return _MAV_RETURN_int16_t(msg, 6); |
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305 | } |
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306 | |
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307 | /** |
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308 | * @brief Get field buttons from manual_control message |
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309 | * |
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310 | * @return A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. |
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311 | */ |
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312 | static inline uint16_t mavlink_msg_manual_control_get_buttons(const mavlink_message_t* msg) |
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313 | { |
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314 | return _MAV_RETURN_uint16_t(msg, 8); |
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315 | } |
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316 | |
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317 | /** |
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318 | * @brief Decode a manual_control message into a struct |
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319 | * |
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320 | * @param msg The message to decode |
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321 | * @param manual_control C-struct to decode the message contents into |
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322 | */ |
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323 | static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* msg, mavlink_manual_control_t* manual_control) |
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324 | { |
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325 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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326 | manual_control->x = mavlink_msg_manual_control_get_x(msg); |
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327 | manual_control->y = mavlink_msg_manual_control_get_y(msg); |
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328 | manual_control->z = mavlink_msg_manual_control_get_z(msg); |
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329 | manual_control->r = mavlink_msg_manual_control_get_r(msg); |
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330 | manual_control->buttons = mavlink_msg_manual_control_get_buttons(msg); |
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331 | manual_control->target = mavlink_msg_manual_control_get_target(msg); |
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332 | #else |
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333 | uint8_t len = msg->len < MAVLINK_MSG_ID_MANUAL_CONTROL_LEN? msg->len : MAVLINK_MSG_ID_MANUAL_CONTROL_LEN; |
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334 | memset(manual_control, 0, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); |
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335 | memcpy(manual_control, _MAV_PAYLOAD(msg), len); |
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336 | #endif |
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337 | } |
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