[88] | 1 | // MESSAGE ACTUATOR_CONTROL_TARGET PACKING
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| 2 |
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| 3 | #define MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET 140
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| 4 |
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| 5 | typedef struct MAVLINK_PACKED __mavlink_actuator_control_target_t
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| 6 | {
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| 7 | uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
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| 8 | float controls[8]; /*< Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.*/
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| 9 | uint8_t group_mlx; /*< Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.*/
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| 10 | } mavlink_actuator_control_target_t;
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| 11 |
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| 12 | #define MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN 41
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| 13 | #define MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_MIN_LEN 41
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| 14 | #define MAVLINK_MSG_ID_140_LEN 41
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| 15 | #define MAVLINK_MSG_ID_140_MIN_LEN 41
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| 16 |
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| 17 | #define MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC 181
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| 18 | #define MAVLINK_MSG_ID_140_CRC 181
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| 19 |
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| 20 | #define MAVLINK_MSG_ACTUATOR_CONTROL_TARGET_FIELD_CONTROLS_LEN 8
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| 21 |
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| 22 | #if MAVLINK_COMMAND_24BIT
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| 23 | #define MAVLINK_MESSAGE_INFO_ACTUATOR_CONTROL_TARGET { \
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| 24 | 140, \
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| 25 | "ACTUATOR_CONTROL_TARGET", \
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| 26 | 3, \
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| 27 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_actuator_control_target_t, time_usec) }, \
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| 28 | { "controls", NULL, MAVLINK_TYPE_FLOAT, 8, 8, offsetof(mavlink_actuator_control_target_t, controls) }, \
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| 29 | { "group_mlx", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_actuator_control_target_t, group_mlx) }, \
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| 30 | } \
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| 31 | }
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| 32 | #else
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| 33 | #define MAVLINK_MESSAGE_INFO_ACTUATOR_CONTROL_TARGET { \
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| 34 | "ACTUATOR_CONTROL_TARGET", \
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| 35 | 3, \
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| 36 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_actuator_control_target_t, time_usec) }, \
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| 37 | { "controls", NULL, MAVLINK_TYPE_FLOAT, 8, 8, offsetof(mavlink_actuator_control_target_t, controls) }, \
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| 38 | { "group_mlx", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_actuator_control_target_t, group_mlx) }, \
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| 39 | } \
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| 40 | }
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| 41 | #endif
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| 42 |
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| 43 | /**
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| 44 | * @brief Pack a actuator_control_target message
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| 45 | * @param system_id ID of this system
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| 46 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 47 | * @param msg The MAVLink message to compress the data into
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| 48 | *
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| 49 | * @param time_usec Timestamp (micros since boot or Unix epoch)
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| 50 | * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
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| 51 | * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
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| 52 | * @return length of the message in bytes (excluding serial stream start sign)
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| 53 | */
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| 54 | static inline uint16_t mavlink_msg_actuator_control_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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| 55 | uint64_t time_usec, uint8_t group_mlx, const float *controls)
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| 56 | {
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| 57 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 58 | char buf[MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN];
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| 59 | _mav_put_uint64_t(buf, 0, time_usec);
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| 60 | _mav_put_uint8_t(buf, 40, group_mlx);
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| 61 | _mav_put_float_array(buf, 8, controls, 8);
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| 62 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
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| 63 | #else
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| 64 | mavlink_actuator_control_target_t packet;
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| 65 | packet.time_usec = time_usec;
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| 66 | packet.group_mlx = group_mlx;
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| 67 | mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
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| 68 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
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| 69 | #endif
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| 70 |
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| 71 | msg->msgid = MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET;
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| 72 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
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| 73 | }
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| 74 |
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| 75 | /**
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| 76 | * @brief Pack a actuator_control_target message on a channel
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| 77 | * @param system_id ID of this system
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| 78 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 79 | * @param chan The MAVLink channel this message will be sent over
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| 80 | * @param msg The MAVLink message to compress the data into
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| 81 | * @param time_usec Timestamp (micros since boot or Unix epoch)
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| 82 | * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
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| 83 | * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
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| 84 | * @return length of the message in bytes (excluding serial stream start sign)
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| 85 | */
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| 86 | static inline uint16_t mavlink_msg_actuator_control_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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| 87 | mavlink_message_t* msg,
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| 88 | uint64_t time_usec,uint8_t group_mlx,const float *controls)
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| 89 | {
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| 90 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 91 | char buf[MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN];
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| 92 | _mav_put_uint64_t(buf, 0, time_usec);
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| 93 | _mav_put_uint8_t(buf, 40, group_mlx);
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| 94 | _mav_put_float_array(buf, 8, controls, 8);
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| 95 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
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| 96 | #else
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| 97 | mavlink_actuator_control_target_t packet;
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| 98 | packet.time_usec = time_usec;
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| 99 | packet.group_mlx = group_mlx;
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| 100 | mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
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| 101 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
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| 102 | #endif
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| 103 |
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| 104 | msg->msgid = MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET;
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| 105 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
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| 106 | }
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| 107 |
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| 108 | /**
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| 109 | * @brief Encode a actuator_control_target struct
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| 110 | *
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| 111 | * @param system_id ID of this system
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| 112 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 113 | * @param msg The MAVLink message to compress the data into
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| 114 | * @param actuator_control_target C-struct to read the message contents from
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| 115 | */
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| 116 | static inline uint16_t mavlink_msg_actuator_control_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_actuator_control_target_t* actuator_control_target)
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| 117 | {
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| 118 | return mavlink_msg_actuator_control_target_pack(system_id, component_id, msg, actuator_control_target->time_usec, actuator_control_target->group_mlx, actuator_control_target->controls);
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| 119 | }
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| 120 |
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| 121 | /**
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| 122 | * @brief Encode a actuator_control_target struct on a channel
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| 123 | *
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| 124 | * @param system_id ID of this system
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| 125 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 126 | * @param chan The MAVLink channel this message will be sent over
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| 127 | * @param msg The MAVLink message to compress the data into
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| 128 | * @param actuator_control_target C-struct to read the message contents from
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| 129 | */
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| 130 | static inline uint16_t mavlink_msg_actuator_control_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_actuator_control_target_t* actuator_control_target)
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| 131 | {
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| 132 | return mavlink_msg_actuator_control_target_pack_chan(system_id, component_id, chan, msg, actuator_control_target->time_usec, actuator_control_target->group_mlx, actuator_control_target->controls);
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| 133 | }
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| 134 |
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| 135 | /**
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| 136 | * @brief Send a actuator_control_target message
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| 137 | * @param chan MAVLink channel to send the message
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| 138 | *
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| 139 | * @param time_usec Timestamp (micros since boot or Unix epoch)
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| 140 | * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
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| 141 | * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
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| 142 | */
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| 143 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 144 |
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| 145 | static inline void mavlink_msg_actuator_control_target_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t group_mlx, const float *controls)
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| 146 | {
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| 147 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 148 | char buf[MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN];
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| 149 | _mav_put_uint64_t(buf, 0, time_usec);
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| 150 | _mav_put_uint8_t(buf, 40, group_mlx);
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| 151 | _mav_put_float_array(buf, 8, controls, 8);
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| 152 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
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| 153 | #else
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| 154 | mavlink_actuator_control_target_t packet;
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| 155 | packet.time_usec = time_usec;
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| 156 | packet.group_mlx = group_mlx;
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| 157 | mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
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| 158 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, (const char *)&packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
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| 159 | #endif
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| 160 | }
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| 161 |
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| 162 | /**
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| 163 | * @brief Send a actuator_control_target message
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| 164 | * @param chan MAVLink channel to send the message
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| 165 | * @param struct The MAVLink struct to serialize
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| 166 | */
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| 167 | static inline void mavlink_msg_actuator_control_target_send_struct(mavlink_channel_t chan, const mavlink_actuator_control_target_t* actuator_control_target)
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| 168 | {
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| 169 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 170 | mavlink_msg_actuator_control_target_send(chan, actuator_control_target->time_usec, actuator_control_target->group_mlx, actuator_control_target->controls);
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| 171 | #else
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| 172 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, (const char *)actuator_control_target, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
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| 173 | #endif
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| 174 | }
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| 175 |
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| 176 | #if MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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| 177 | /*
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| 178 | This varient of _send() can be used to save stack space by re-using
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| 179 | memory from the receive buffer. The caller provides a
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| 180 | mavlink_message_t which is the size of a full mavlink message. This
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| 181 | is usually the receive buffer for the channel, and allows a reply to an
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| 182 | incoming message with minimum stack space usage.
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| 183 | */
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| 184 | static inline void mavlink_msg_actuator_control_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t group_mlx, const float *controls)
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| 185 | {
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| 186 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 187 | char *buf = (char *)msgbuf;
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| 188 | _mav_put_uint64_t(buf, 0, time_usec);
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| 189 | _mav_put_uint8_t(buf, 40, group_mlx);
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| 190 | _mav_put_float_array(buf, 8, controls, 8);
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| 191 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
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| 192 | #else
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| 193 | mavlink_actuator_control_target_t *packet = (mavlink_actuator_control_target_t *)msgbuf;
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| 194 | packet->time_usec = time_usec;
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| 195 | packet->group_mlx = group_mlx;
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| 196 | mav_array_memcpy(packet->controls, controls, sizeof(float)*8);
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| 197 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, (const char *)packet, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_CRC);
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| 198 | #endif
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| 199 | }
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| 200 | #endif
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| 201 |
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| 202 | #endif
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| 203 |
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| 204 | // MESSAGE ACTUATOR_CONTROL_TARGET UNPACKING
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| 205 |
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| 206 |
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| 207 | /**
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| 208 | * @brief Get field time_usec from actuator_control_target message
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| 209 | *
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| 210 | * @return Timestamp (micros since boot or Unix epoch)
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| 211 | */
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| 212 | static inline uint64_t mavlink_msg_actuator_control_target_get_time_usec(const mavlink_message_t* msg)
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| 213 | {
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| 214 | return _MAV_RETURN_uint64_t(msg, 0);
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| 215 | }
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| 216 |
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| 217 | /**
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| 218 | * @brief Get field group_mlx from actuator_control_target message
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| 219 | *
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| 220 | * @return Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
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| 221 | */
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| 222 | static inline uint8_t mavlink_msg_actuator_control_target_get_group_mlx(const mavlink_message_t* msg)
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| 223 | {
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| 224 | return _MAV_RETURN_uint8_t(msg, 40);
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| 225 | }
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| 226 |
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| 227 | /**
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| 228 | * @brief Get field controls from actuator_control_target message
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| 229 | *
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| 230 | * @return Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
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| 231 | */
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| 232 | static inline uint16_t mavlink_msg_actuator_control_target_get_controls(const mavlink_message_t* msg, float *controls)
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| 233 | {
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| 234 | return _MAV_RETURN_float_array(msg, controls, 8, 8);
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| 235 | }
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| 236 |
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| 237 | /**
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| 238 | * @brief Decode a actuator_control_target message into a struct
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| 239 | *
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| 240 | * @param msg The message to decode
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| 241 | * @param actuator_control_target C-struct to decode the message contents into
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| 242 | */
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| 243 | static inline void mavlink_msg_actuator_control_target_decode(const mavlink_message_t* msg, mavlink_actuator_control_target_t* actuator_control_target)
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| 244 | {
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| 245 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 246 | actuator_control_target->time_usec = mavlink_msg_actuator_control_target_get_time_usec(msg);
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| 247 | mavlink_msg_actuator_control_target_get_controls(msg, actuator_control_target->controls);
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| 248 | actuator_control_target->group_mlx = mavlink_msg_actuator_control_target_get_group_mlx(msg);
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| 249 | #else
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| 250 | uint8_t len = msg->len < MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN? msg->len : MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN;
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| 251 | memset(actuator_control_target, 0, MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN);
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| 252 | memcpy(actuator_control_target, _MAV_PAYLOAD(msg), len);
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| 253 | #endif
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| 254 | }
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