// MESSAGE SET_ATTITUDE_TARGET PACKING #define MAVLINK_MSG_ID_SET_ATTITUDE_TARGET 82 MAVPACKED( typedef struct __mavlink_set_attitude_target_t { uint32_t time_boot_ms; /*< Timestamp in milliseconds since system boot*/ float q[4]; /*< Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)*/ float body_roll_rate; /*< Body roll rate in radians per second*/ float body_pitch_rate; /*< Body roll rate in radians per second*/ float body_yaw_rate; /*< Body roll rate in radians per second*/ float thrust; /*< Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)*/ uint8_t target_system; /*< System ID*/ uint8_t target_component; /*< Component ID*/ uint8_t type_mask; /*< Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude*/ }) mavlink_set_attitude_target_t; #define MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN 39 #define MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN 39 #define MAVLINK_MSG_ID_82_LEN 39 #define MAVLINK_MSG_ID_82_MIN_LEN 39 #define MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC 49 #define MAVLINK_MSG_ID_82_CRC 49 #define MAVLINK_MSG_SET_ATTITUDE_TARGET_FIELD_Q_LEN 4 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_SET_ATTITUDE_TARGET { \ 82, \ "SET_ATTITUDE_TARGET", \ 9, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_attitude_target_t, time_boot_ms) }, \ { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_set_attitude_target_t, q) }, \ { "body_roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_attitude_target_t, body_roll_rate) }, \ { "body_pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_set_attitude_target_t, body_pitch_rate) }, \ { "body_yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_set_attitude_target_t, body_yaw_rate) }, \ { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_set_attitude_target_t, thrust) }, \ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_set_attitude_target_t, target_system) }, \ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 37, offsetof(mavlink_set_attitude_target_t, target_component) }, \ { "type_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_set_attitude_target_t, type_mask) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_SET_ATTITUDE_TARGET { \ "SET_ATTITUDE_TARGET", \ 9, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_attitude_target_t, time_boot_ms) }, \ { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_set_attitude_target_t, q) }, \ { "body_roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_attitude_target_t, body_roll_rate) }, \ { "body_pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_set_attitude_target_t, body_pitch_rate) }, \ { "body_yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_set_attitude_target_t, body_yaw_rate) }, \ { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_set_attitude_target_t, thrust) }, \ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_set_attitude_target_t, target_system) }, \ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 37, offsetof(mavlink_set_attitude_target_t, target_component) }, \ { "type_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_set_attitude_target_t, type_mask) }, \ } \ } #endif /** * @brief Pack a set_attitude_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_boot_ms Timestamp in milliseconds since system boot * @param target_system System ID * @param target_component Component ID * @param type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) * @param body_roll_rate Body roll rate in radians per second * @param body_pitch_rate Body roll rate in radians per second * @param body_yaw_rate Body roll rate in radians per second * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_set_attitude_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 20, body_roll_rate); _mav_put_float(buf, 24, body_pitch_rate); _mav_put_float(buf, 28, body_yaw_rate); _mav_put_float(buf, 32, thrust); _mav_put_uint8_t(buf, 36, target_system); _mav_put_uint8_t(buf, 37, target_component); _mav_put_uint8_t(buf, 38, type_mask); _mav_put_float_array(buf, 4, q, 4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN); #else mavlink_set_attitude_target_t packet; packet.time_boot_ms = time_boot_ms; packet.body_roll_rate = body_roll_rate; packet.body_pitch_rate = body_pitch_rate; packet.body_yaw_rate = body_yaw_rate; packet.thrust = thrust; packet.target_system = target_system; packet.target_component = target_component; packet.type_mask = type_mask; mav_array_memcpy(packet.q, q, sizeof(float)*4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN); #endif msg->msgid = MAVLINK_MSG_ID_SET_ATTITUDE_TARGET; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC); } /** * @brief Pack a set_attitude_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_boot_ms Timestamp in milliseconds since system boot * @param target_system System ID * @param target_component Component ID * @param type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) * @param body_roll_rate Body roll rate in radians per second * @param body_pitch_rate Body roll rate in radians per second * @param body_yaw_rate Body roll rate in radians per second * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_set_attitude_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t time_boot_ms,uint8_t target_system,uint8_t target_component,uint8_t type_mask,const float *q,float body_roll_rate,float body_pitch_rate,float body_yaw_rate,float thrust) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 20, body_roll_rate); _mav_put_float(buf, 24, body_pitch_rate); _mav_put_float(buf, 28, body_yaw_rate); _mav_put_float(buf, 32, thrust); _mav_put_uint8_t(buf, 36, target_system); _mav_put_uint8_t(buf, 37, target_component); _mav_put_uint8_t(buf, 38, type_mask); _mav_put_float_array(buf, 4, q, 4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN); #else mavlink_set_attitude_target_t packet; packet.time_boot_ms = time_boot_ms; packet.body_roll_rate = body_roll_rate; packet.body_pitch_rate = body_pitch_rate; packet.body_yaw_rate = body_yaw_rate; packet.thrust = thrust; packet.target_system = target_system; packet.target_component = target_component; packet.type_mask = type_mask; mav_array_memcpy(packet.q, q, sizeof(float)*4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN); #endif msg->msgid = MAVLINK_MSG_ID_SET_ATTITUDE_TARGET; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC); } /** * @brief Encode a set_attitude_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_attitude_target C-struct to read the message contents from */ static inline uint16_t mavlink_msg_set_attitude_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_attitude_target_t* set_attitude_target) { return mavlink_msg_set_attitude_target_pack(system_id, component_id, msg, set_attitude_target->time_boot_ms, set_attitude_target->target_system, set_attitude_target->target_component, set_attitude_target->type_mask, set_attitude_target->q, set_attitude_target->body_roll_rate, set_attitude_target->body_pitch_rate, set_attitude_target->body_yaw_rate, set_attitude_target->thrust); } /** * @brief Encode a set_attitude_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_attitude_target C-struct to read the message contents from */ static inline uint16_t mavlink_msg_set_attitude_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_attitude_target_t* set_attitude_target) { return mavlink_msg_set_attitude_target_pack_chan(system_id, component_id, chan, msg, set_attitude_target->time_boot_ms, set_attitude_target->target_system, set_attitude_target->target_component, set_attitude_target->type_mask, set_attitude_target->q, set_attitude_target->body_roll_rate, set_attitude_target->body_pitch_rate, set_attitude_target->body_yaw_rate, set_attitude_target->thrust); } /** * @brief Send a set_attitude_target message * @param chan MAVLink channel to send the message * * @param time_boot_ms Timestamp in milliseconds since system boot * @param target_system System ID * @param target_component Component ID * @param type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) * @param body_roll_rate Body roll rate in radians per second * @param body_pitch_rate Body roll rate in radians per second * @param body_yaw_rate Body roll rate in radians per second * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_set_attitude_target_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 20, body_roll_rate); _mav_put_float(buf, 24, body_pitch_rate); _mav_put_float(buf, 28, body_yaw_rate); _mav_put_float(buf, 32, thrust); _mav_put_uint8_t(buf, 36, target_system); _mav_put_uint8_t(buf, 37, target_component); _mav_put_uint8_t(buf, 38, type_mask); _mav_put_float_array(buf, 4, q, 4); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC); #else mavlink_set_attitude_target_t packet; packet.time_boot_ms = time_boot_ms; packet.body_roll_rate = body_roll_rate; packet.body_pitch_rate = body_pitch_rate; packet.body_yaw_rate = body_yaw_rate; packet.thrust = thrust; packet.target_system = target_system; packet.target_component = target_component; packet.type_mask = type_mask; mav_array_memcpy(packet.q, q, sizeof(float)*4); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET, (const char *)&packet, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC); #endif } /** * @brief Send a set_attitude_target message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_set_attitude_target_send_struct(mavlink_channel_t chan, const mavlink_set_attitude_target_t* set_attitude_target) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_set_attitude_target_send(chan, set_attitude_target->time_boot_ms, set_attitude_target->target_system, set_attitude_target->target_component, set_attitude_target->type_mask, set_attitude_target->q, set_attitude_target->body_roll_rate, set_attitude_target->body_pitch_rate, set_attitude_target->body_yaw_rate, set_attitude_target->thrust); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET, (const char *)set_attitude_target, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC); #endif } #if MAVLINK_MSG_ID_SET_ATTITUDE_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_attitude_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 20, body_roll_rate); _mav_put_float(buf, 24, body_pitch_rate); _mav_put_float(buf, 28, body_yaw_rate); _mav_put_float(buf, 32, thrust); _mav_put_uint8_t(buf, 36, target_system); _mav_put_uint8_t(buf, 37, target_component); _mav_put_uint8_t(buf, 38, type_mask); _mav_put_float_array(buf, 4, q, 4); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC); #else mavlink_set_attitude_target_t *packet = (mavlink_set_attitude_target_t *)msgbuf; packet->time_boot_ms = time_boot_ms; packet->body_roll_rate = body_roll_rate; packet->body_pitch_rate = body_pitch_rate; packet->body_yaw_rate = body_yaw_rate; packet->thrust = thrust; packet->target_system = target_system; packet->target_component = target_component; packet->type_mask = type_mask; mav_array_memcpy(packet->q, q, sizeof(float)*4); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET, (const char *)packet, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC); #endif } #endif #endif // MESSAGE SET_ATTITUDE_TARGET UNPACKING /** * @brief Get field time_boot_ms from set_attitude_target message * * @return Timestamp in milliseconds since system boot */ static inline uint32_t mavlink_msg_set_attitude_target_get_time_boot_ms(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 0); } /** * @brief Get field target_system from set_attitude_target message * * @return System ID */ static inline uint8_t mavlink_msg_set_attitude_target_get_target_system(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 36); } /** * @brief Get field target_component from set_attitude_target message * * @return Component ID */ static inline uint8_t mavlink_msg_set_attitude_target_get_target_component(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 37); } /** * @brief Get field type_mask from set_attitude_target message * * @return Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude */ static inline uint8_t mavlink_msg_set_attitude_target_get_type_mask(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 38); } /** * @brief Get field q from set_attitude_target message * * @return Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) */ static inline uint16_t mavlink_msg_set_attitude_target_get_q(const mavlink_message_t* msg, float *q) { return _MAV_RETURN_float_array(msg, q, 4, 4); } /** * @brief Get field body_roll_rate from set_attitude_target message * * @return Body roll rate in radians per second */ static inline float mavlink_msg_set_attitude_target_get_body_roll_rate(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Get field body_pitch_rate from set_attitude_target message * * @return Body roll rate in radians per second */ static inline float mavlink_msg_set_attitude_target_get_body_pitch_rate(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Get field body_yaw_rate from set_attitude_target message * * @return Body roll rate in radians per second */ static inline float mavlink_msg_set_attitude_target_get_body_yaw_rate(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 28); } /** * @brief Get field thrust from set_attitude_target message * * @return Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) */ static inline float mavlink_msg_set_attitude_target_get_thrust(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 32); } /** * @brief Decode a set_attitude_target message into a struct * * @param msg The message to decode * @param set_attitude_target C-struct to decode the message contents into */ static inline void mavlink_msg_set_attitude_target_decode(const mavlink_message_t* msg, mavlink_set_attitude_target_t* set_attitude_target) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS set_attitude_target->time_boot_ms = mavlink_msg_set_attitude_target_get_time_boot_ms(msg); mavlink_msg_set_attitude_target_get_q(msg, set_attitude_target->q); set_attitude_target->body_roll_rate = mavlink_msg_set_attitude_target_get_body_roll_rate(msg); set_attitude_target->body_pitch_rate = mavlink_msg_set_attitude_target_get_body_pitch_rate(msg); set_attitude_target->body_yaw_rate = mavlink_msg_set_attitude_target_get_body_yaw_rate(msg); set_attitude_target->thrust = mavlink_msg_set_attitude_target_get_thrust(msg); set_attitude_target->target_system = mavlink_msg_set_attitude_target_get_target_system(msg); set_attitude_target->target_component = mavlink_msg_set_attitude_target_get_target_component(msg); set_attitude_target->type_mask = mavlink_msg_set_attitude_target_get_type_mask(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN? msg->len : MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN; memset(set_attitude_target, 0, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN); memcpy(set_attitude_target, _MAV_PAYLOAD(msg), len); #endif }