source: flair-src/trunk/tools/Controller/Mavlink/src/include/common/mavlink_msg_manual_setpoint.h@ 88

Last change on this file since 88 was 88, checked in by Sanahuja Guillaume, 6 years ago

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File size: 15.3 KB
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1// MESSAGE MANUAL_SETPOINT PACKING
2
3#define MAVLINK_MSG_ID_MANUAL_SETPOINT 81
4
5typedef struct MAVLINK_PACKED __mavlink_manual_setpoint_t
6{
7 uint32_t time_boot_ms; /*< Timestamp in milliseconds since system boot*/
8 float roll; /*< Desired roll rate in radians per second*/
9 float pitch; /*< Desired pitch rate in radians per second*/
10 float yaw; /*< Desired yaw rate in radians per second*/
11 float thrust; /*< Collective thrust, normalized to 0 .. 1*/
12 uint8_t mode_switch; /*< Flight mode switch position, 0.. 255*/
13 uint8_t manual_override_switch; /*< Override mode switch position, 0.. 255*/
14} mavlink_manual_setpoint_t;
15
16#define MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN 22
17#define MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN 22
18#define MAVLINK_MSG_ID_81_LEN 22
19#define MAVLINK_MSG_ID_81_MIN_LEN 22
20
21#define MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC 106
22#define MAVLINK_MSG_ID_81_CRC 106
23
24
25
26#if MAVLINK_COMMAND_24BIT
27#define MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT { \
28 81, \
29 "MANUAL_SETPOINT", \
30 7, \
31 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_manual_setpoint_t, time_boot_ms) }, \
32 { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_manual_setpoint_t, roll) }, \
33 { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_manual_setpoint_t, pitch) }, \
34 { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_manual_setpoint_t, yaw) }, \
35 { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_manual_setpoint_t, thrust) }, \
36 { "mode_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_setpoint_t, mode_switch) }, \
37 { "manual_override_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_manual_setpoint_t, manual_override_switch) }, \
38 } \
39}
40#else
41#define MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT { \
42 "MANUAL_SETPOINT", \
43 7, \
44 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_manual_setpoint_t, time_boot_ms) }, \
45 { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_manual_setpoint_t, roll) }, \
46 { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_manual_setpoint_t, pitch) }, \
47 { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_manual_setpoint_t, yaw) }, \
48 { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_manual_setpoint_t, thrust) }, \
49 { "mode_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_setpoint_t, mode_switch) }, \
50 { "manual_override_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_manual_setpoint_t, manual_override_switch) }, \
51 } \
52}
53#endif
54
55/**
56 * @brief Pack a manual_setpoint message
57 * @param system_id ID of this system
58 * @param component_id ID of this component (e.g. 200 for IMU)
59 * @param msg The MAVLink message to compress the data into
60 *
61 * @param time_boot_ms Timestamp in milliseconds since system boot
62 * @param roll Desired roll rate in radians per second
63 * @param pitch Desired pitch rate in radians per second
64 * @param yaw Desired yaw rate in radians per second
65 * @param thrust Collective thrust, normalized to 0 .. 1
66 * @param mode_switch Flight mode switch position, 0.. 255
67 * @param manual_override_switch Override mode switch position, 0.. 255
68 * @return length of the message in bytes (excluding serial stream start sign)
69 */
70static inline uint16_t mavlink_msg_manual_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
71 uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch)
72{
73#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
74 char buf[MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN];
75 _mav_put_uint32_t(buf, 0, time_boot_ms);
76 _mav_put_float(buf, 4, roll);
77 _mav_put_float(buf, 8, pitch);
78 _mav_put_float(buf, 12, yaw);
79 _mav_put_float(buf, 16, thrust);
80 _mav_put_uint8_t(buf, 20, mode_switch);
81 _mav_put_uint8_t(buf, 21, manual_override_switch);
82
83 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
84#else
85 mavlink_manual_setpoint_t packet;
86 packet.time_boot_ms = time_boot_ms;
87 packet.roll = roll;
88 packet.pitch = pitch;
89 packet.yaw = yaw;
90 packet.thrust = thrust;
91 packet.mode_switch = mode_switch;
92 packet.manual_override_switch = manual_override_switch;
93
94 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
95#endif
96
97 msg->msgid = MAVLINK_MSG_ID_MANUAL_SETPOINT;
98 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
99}
100
101/**
102 * @brief Pack a manual_setpoint message on a channel
103 * @param system_id ID of this system
104 * @param component_id ID of this component (e.g. 200 for IMU)
105 * @param chan The MAVLink channel this message will be sent over
106 * @param msg The MAVLink message to compress the data into
107 * @param time_boot_ms Timestamp in milliseconds since system boot
108 * @param roll Desired roll rate in radians per second
109 * @param pitch Desired pitch rate in radians per second
110 * @param yaw Desired yaw rate in radians per second
111 * @param thrust Collective thrust, normalized to 0 .. 1
112 * @param mode_switch Flight mode switch position, 0.. 255
113 * @param manual_override_switch Override mode switch position, 0.. 255
114 * @return length of the message in bytes (excluding serial stream start sign)
115 */
116static inline uint16_t mavlink_msg_manual_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
117 mavlink_message_t* msg,
118 uint32_t time_boot_ms,float roll,float pitch,float yaw,float thrust,uint8_t mode_switch,uint8_t manual_override_switch)
119{
120#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
121 char buf[MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN];
122 _mav_put_uint32_t(buf, 0, time_boot_ms);
123 _mav_put_float(buf, 4, roll);
124 _mav_put_float(buf, 8, pitch);
125 _mav_put_float(buf, 12, yaw);
126 _mav_put_float(buf, 16, thrust);
127 _mav_put_uint8_t(buf, 20, mode_switch);
128 _mav_put_uint8_t(buf, 21, manual_override_switch);
129
130 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
131#else
132 mavlink_manual_setpoint_t packet;
133 packet.time_boot_ms = time_boot_ms;
134 packet.roll = roll;
135 packet.pitch = pitch;
136 packet.yaw = yaw;
137 packet.thrust = thrust;
138 packet.mode_switch = mode_switch;
139 packet.manual_override_switch = manual_override_switch;
140
141 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
142#endif
143
144 msg->msgid = MAVLINK_MSG_ID_MANUAL_SETPOINT;
145 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
146}
147
148/**
149 * @brief Encode a manual_setpoint struct
150 *
151 * @param system_id ID of this system
152 * @param component_id ID of this component (e.g. 200 for IMU)
153 * @param msg The MAVLink message to compress the data into
154 * @param manual_setpoint C-struct to read the message contents from
155 */
156static inline uint16_t mavlink_msg_manual_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_setpoint_t* manual_setpoint)
157{
158 return mavlink_msg_manual_setpoint_pack(system_id, component_id, msg, manual_setpoint->time_boot_ms, manual_setpoint->roll, manual_setpoint->pitch, manual_setpoint->yaw, manual_setpoint->thrust, manual_setpoint->mode_switch, manual_setpoint->manual_override_switch);
159}
160
161/**
162 * @brief Encode a manual_setpoint struct on a channel
163 *
164 * @param system_id ID of this system
165 * @param component_id ID of this component (e.g. 200 for IMU)
166 * @param chan The MAVLink channel this message will be sent over
167 * @param msg The MAVLink message to compress the data into
168 * @param manual_setpoint C-struct to read the message contents from
169 */
170static inline uint16_t mavlink_msg_manual_setpoint_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_manual_setpoint_t* manual_setpoint)
171{
172 return mavlink_msg_manual_setpoint_pack_chan(system_id, component_id, chan, msg, manual_setpoint->time_boot_ms, manual_setpoint->roll, manual_setpoint->pitch, manual_setpoint->yaw, manual_setpoint->thrust, manual_setpoint->mode_switch, manual_setpoint->manual_override_switch);
173}
174
175/**
176 * @brief Send a manual_setpoint message
177 * @param chan MAVLink channel to send the message
178 *
179 * @param time_boot_ms Timestamp in milliseconds since system boot
180 * @param roll Desired roll rate in radians per second
181 * @param pitch Desired pitch rate in radians per second
182 * @param yaw Desired yaw rate in radians per second
183 * @param thrust Collective thrust, normalized to 0 .. 1
184 * @param mode_switch Flight mode switch position, 0.. 255
185 * @param manual_override_switch Override mode switch position, 0.. 255
186 */
187#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
188
189static inline void mavlink_msg_manual_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch)
190{
191#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
192 char buf[MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN];
193 _mav_put_uint32_t(buf, 0, time_boot_ms);
194 _mav_put_float(buf, 4, roll);
195 _mav_put_float(buf, 8, pitch);
196 _mav_put_float(buf, 12, yaw);
197 _mav_put_float(buf, 16, thrust);
198 _mav_put_uint8_t(buf, 20, mode_switch);
199 _mav_put_uint8_t(buf, 21, manual_override_switch);
200
201 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
202#else
203 mavlink_manual_setpoint_t packet;
204 packet.time_boot_ms = time_boot_ms;
205 packet.roll = roll;
206 packet.pitch = pitch;
207 packet.yaw = yaw;
208 packet.thrust = thrust;
209 packet.mode_switch = mode_switch;
210 packet.manual_override_switch = manual_override_switch;
211
212 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
213#endif
214}
215
216/**
217 * @brief Send a manual_setpoint message
218 * @param chan MAVLink channel to send the message
219 * @param struct The MAVLink struct to serialize
220 */
221static inline void mavlink_msg_manual_setpoint_send_struct(mavlink_channel_t chan, const mavlink_manual_setpoint_t* manual_setpoint)
222{
223#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
224 mavlink_msg_manual_setpoint_send(chan, manual_setpoint->time_boot_ms, manual_setpoint->roll, manual_setpoint->pitch, manual_setpoint->yaw, manual_setpoint->thrust, manual_setpoint->mode_switch, manual_setpoint->manual_override_switch);
225#else
226 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)manual_setpoint, MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
227#endif
228}
229
230#if MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
231/*
232 This varient of _send() can be used to save stack space by re-using
233 memory from the receive buffer. The caller provides a
234 mavlink_message_t which is the size of a full mavlink message. This
235 is usually the receive buffer for the channel, and allows a reply to an
236 incoming message with minimum stack space usage.
237 */
238static inline void mavlink_msg_manual_setpoint_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch)
239{
240#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
241 char *buf = (char *)msgbuf;
242 _mav_put_uint32_t(buf, 0, time_boot_ms);
243 _mav_put_float(buf, 4, roll);
244 _mav_put_float(buf, 8, pitch);
245 _mav_put_float(buf, 12, yaw);
246 _mav_put_float(buf, 16, thrust);
247 _mav_put_uint8_t(buf, 20, mode_switch);
248 _mav_put_uint8_t(buf, 21, manual_override_switch);
249
250 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
251#else
252 mavlink_manual_setpoint_t *packet = (mavlink_manual_setpoint_t *)msgbuf;
253 packet->time_boot_ms = time_boot_ms;
254 packet->roll = roll;
255 packet->pitch = pitch;
256 packet->yaw = yaw;
257 packet->thrust = thrust;
258 packet->mode_switch = mode_switch;
259 packet->manual_override_switch = manual_override_switch;
260
261 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
262#endif
263}
264#endif
265
266#endif
267
268// MESSAGE MANUAL_SETPOINT UNPACKING
269
270
271/**
272 * @brief Get field time_boot_ms from manual_setpoint message
273 *
274 * @return Timestamp in milliseconds since system boot
275 */
276static inline uint32_t mavlink_msg_manual_setpoint_get_time_boot_ms(const mavlink_message_t* msg)
277{
278 return _MAV_RETURN_uint32_t(msg, 0);
279}
280
281/**
282 * @brief Get field roll from manual_setpoint message
283 *
284 * @return Desired roll rate in radians per second
285 */
286static inline float mavlink_msg_manual_setpoint_get_roll(const mavlink_message_t* msg)
287{
288 return _MAV_RETURN_float(msg, 4);
289}
290
291/**
292 * @brief Get field pitch from manual_setpoint message
293 *
294 * @return Desired pitch rate in radians per second
295 */
296static inline float mavlink_msg_manual_setpoint_get_pitch(const mavlink_message_t* msg)
297{
298 return _MAV_RETURN_float(msg, 8);
299}
300
301/**
302 * @brief Get field yaw from manual_setpoint message
303 *
304 * @return Desired yaw rate in radians per second
305 */
306static inline float mavlink_msg_manual_setpoint_get_yaw(const mavlink_message_t* msg)
307{
308 return _MAV_RETURN_float(msg, 12);
309}
310
311/**
312 * @brief Get field thrust from manual_setpoint message
313 *
314 * @return Collective thrust, normalized to 0 .. 1
315 */
316static inline float mavlink_msg_manual_setpoint_get_thrust(const mavlink_message_t* msg)
317{
318 return _MAV_RETURN_float(msg, 16);
319}
320
321/**
322 * @brief Get field mode_switch from manual_setpoint message
323 *
324 * @return Flight mode switch position, 0.. 255
325 */
326static inline uint8_t mavlink_msg_manual_setpoint_get_mode_switch(const mavlink_message_t* msg)
327{
328 return _MAV_RETURN_uint8_t(msg, 20);
329}
330
331/**
332 * @brief Get field manual_override_switch from manual_setpoint message
333 *
334 * @return Override mode switch position, 0.. 255
335 */
336static inline uint8_t mavlink_msg_manual_setpoint_get_manual_override_switch(const mavlink_message_t* msg)
337{
338 return _MAV_RETURN_uint8_t(msg, 21);
339}
340
341/**
342 * @brief Decode a manual_setpoint message into a struct
343 *
344 * @param msg The message to decode
345 * @param manual_setpoint C-struct to decode the message contents into
346 */
347static inline void mavlink_msg_manual_setpoint_decode(const mavlink_message_t* msg, mavlink_manual_setpoint_t* manual_setpoint)
348{
349#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
350 manual_setpoint->time_boot_ms = mavlink_msg_manual_setpoint_get_time_boot_ms(msg);
351 manual_setpoint->roll = mavlink_msg_manual_setpoint_get_roll(msg);
352 manual_setpoint->pitch = mavlink_msg_manual_setpoint_get_pitch(msg);
353 manual_setpoint->yaw = mavlink_msg_manual_setpoint_get_yaw(msg);
354 manual_setpoint->thrust = mavlink_msg_manual_setpoint_get_thrust(msg);
355 manual_setpoint->mode_switch = mavlink_msg_manual_setpoint_get_mode_switch(msg);
356 manual_setpoint->manual_override_switch = mavlink_msg_manual_setpoint_get_manual_override_switch(msg);
357#else
358 uint8_t len = msg->len < MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN? msg->len : MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN;
359 memset(manual_setpoint, 0, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
360 memcpy(manual_setpoint, _MAV_PAYLOAD(msg), len);
361#endif
362}
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