[88] | 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 | typedef struct MAVLINK_PACKED __mavlink_manual_control_t
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| 6 | {
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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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