// MESSAGE MANUAL_SETPOINT PACKING #define MAVLINK_MSG_ID_MANUAL_SETPOINT 81 typedef struct MAVLINK_PACKED __mavlink_manual_setpoint_t { uint32_t time_boot_ms; /*< Timestamp in milliseconds since system boot*/ float roll; /*< Desired roll rate in radians per second*/ float pitch; /*< Desired pitch rate in radians per second*/ float yaw; /*< Desired yaw rate in radians per second*/ float thrust; /*< Collective thrust, normalized to 0 .. 1*/ uint8_t mode_switch; /*< Flight mode switch position, 0.. 255*/ uint8_t manual_override_switch; /*< Override mode switch position, 0.. 255*/ } mavlink_manual_setpoint_t; #define MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN 22 #define MAVLINK_MSG_ID_MANUAL_SETPOINT_MIN_LEN 22 #define MAVLINK_MSG_ID_81_LEN 22 #define MAVLINK_MSG_ID_81_MIN_LEN 22 #define MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC 106 #define MAVLINK_MSG_ID_81_CRC 106 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT { \ 81, \ "MANUAL_SETPOINT", \ 7, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_manual_setpoint_t, time_boot_ms) }, \ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_manual_setpoint_t, roll) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_manual_setpoint_t, pitch) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_manual_setpoint_t, yaw) }, \ { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_manual_setpoint_t, thrust) }, \ { "mode_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_setpoint_t, mode_switch) }, \ { "manual_override_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_manual_setpoint_t, manual_override_switch) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT { \ "MANUAL_SETPOINT", \ 7, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_manual_setpoint_t, time_boot_ms) }, \ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_manual_setpoint_t, roll) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_manual_setpoint_t, pitch) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_manual_setpoint_t, yaw) }, \ { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_manual_setpoint_t, thrust) }, \ { "mode_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_setpoint_t, mode_switch) }, \ { "manual_override_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_manual_setpoint_t, manual_override_switch) }, \ } \ } #endif /** * @brief Pack a manual_setpoint 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 roll Desired roll rate in radians per second * @param pitch Desired pitch rate in radians per second * @param yaw Desired yaw rate in radians per second * @param thrust Collective thrust, normalized to 0 .. 1 * @param mode_switch Flight mode switch position, 0.. 255 * @param manual_override_switch Override mode switch position, 0.. 255 * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_manual_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, roll); _mav_put_float(buf, 8, pitch); _mav_put_float(buf, 12, yaw); _mav_put_float(buf, 16, thrust); _mav_put_uint8_t(buf, 20, mode_switch); _mav_put_uint8_t(buf, 21, manual_override_switch); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); #else mavlink_manual_setpoint_t packet; packet.time_boot_ms = time_boot_ms; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.thrust = thrust; packet.mode_switch = mode_switch; packet.manual_override_switch = manual_override_switch; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); #endif msg->msgid = MAVLINK_MSG_ID_MANUAL_SETPOINT; 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); } /** * @brief Pack a manual_setpoint 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 roll Desired roll rate in radians per second * @param pitch Desired pitch rate in radians per second * @param yaw Desired yaw rate in radians per second * @param thrust Collective thrust, normalized to 0 .. 1 * @param mode_switch Flight mode switch position, 0.. 255 * @param manual_override_switch Override mode switch position, 0.. 255 * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_manual_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t time_boot_ms,float roll,float pitch,float yaw,float thrust,uint8_t mode_switch,uint8_t manual_override_switch) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, roll); _mav_put_float(buf, 8, pitch); _mav_put_float(buf, 12, yaw); _mav_put_float(buf, 16, thrust); _mav_put_uint8_t(buf, 20, mode_switch); _mav_put_uint8_t(buf, 21, manual_override_switch); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); #else mavlink_manual_setpoint_t packet; packet.time_boot_ms = time_boot_ms; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.thrust = thrust; packet.mode_switch = mode_switch; packet.manual_override_switch = manual_override_switch; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); #endif msg->msgid = MAVLINK_MSG_ID_MANUAL_SETPOINT; 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); } /** * @brief Encode a manual_setpoint 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 manual_setpoint C-struct to read the message contents from */ static 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) { 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); } /** * @brief Encode a manual_setpoint 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 manual_setpoint C-struct to read the message contents from */ static 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) { 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); } /** * @brief Send a manual_setpoint message * @param chan MAVLink channel to send the message * * @param time_boot_ms Timestamp in milliseconds since system boot * @param roll Desired roll rate in radians per second * @param pitch Desired pitch rate in radians per second * @param yaw Desired yaw rate in radians per second * @param thrust Collective thrust, normalized to 0 .. 1 * @param mode_switch Flight mode switch position, 0.. 255 * @param manual_override_switch Override mode switch position, 0.. 255 */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, roll); _mav_put_float(buf, 8, pitch); _mav_put_float(buf, 12, yaw); _mav_put_float(buf, 16, thrust); _mav_put_uint8_t(buf, 20, mode_switch); _mav_put_uint8_t(buf, 21, manual_override_switch); _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); #else mavlink_manual_setpoint_t packet; packet.time_boot_ms = time_boot_ms; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.thrust = thrust; packet.mode_switch = mode_switch; packet.manual_override_switch = manual_override_switch; _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); #endif } /** * @brief Send a manual_setpoint message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_manual_setpoint_send_struct(mavlink_channel_t chan, const mavlink_manual_setpoint_t* manual_setpoint) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 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); #else _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); #endif } #if MAVLINK_MSG_ID_MANUAL_SETPOINT_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_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) { #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, 4, roll); _mav_put_float(buf, 8, pitch); _mav_put_float(buf, 12, yaw); _mav_put_float(buf, 16, thrust); _mav_put_uint8_t(buf, 20, mode_switch); _mav_put_uint8_t(buf, 21, manual_override_switch); _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); #else mavlink_manual_setpoint_t *packet = (mavlink_manual_setpoint_t *)msgbuf; packet->time_boot_ms = time_boot_ms; packet->roll = roll; packet->pitch = pitch; packet->yaw = yaw; packet->thrust = thrust; packet->mode_switch = mode_switch; packet->manual_override_switch = manual_override_switch; _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); #endif } #endif #endif // MESSAGE MANUAL_SETPOINT UNPACKING /** * @brief Get field time_boot_ms from manual_setpoint message * * @return Timestamp in milliseconds since system boot */ static inline uint32_t mavlink_msg_manual_setpoint_get_time_boot_ms(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 0); } /** * @brief Get field roll from manual_setpoint message * * @return Desired roll rate in radians per second */ static inline float mavlink_msg_manual_setpoint_get_roll(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 4); } /** * @brief Get field pitch from manual_setpoint message * * @return Desired pitch rate in radians per second */ static inline float mavlink_msg_manual_setpoint_get_pitch(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field yaw from manual_setpoint message * * @return Desired yaw rate in radians per second */ static inline float mavlink_msg_manual_setpoint_get_yaw(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field thrust from manual_setpoint message * * @return Collective thrust, normalized to 0 .. 1 */ static inline float mavlink_msg_manual_setpoint_get_thrust(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field mode_switch from manual_setpoint message * * @return Flight mode switch position, 0.. 255 */ static inline uint8_t mavlink_msg_manual_setpoint_get_mode_switch(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 20); } /** * @brief Get field manual_override_switch from manual_setpoint message * * @return Override mode switch position, 0.. 255 */ static inline uint8_t mavlink_msg_manual_setpoint_get_manual_override_switch(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 21); } /** * @brief Decode a manual_setpoint message into a struct * * @param msg The message to decode * @param manual_setpoint C-struct to decode the message contents into */ static inline void mavlink_msg_manual_setpoint_decode(const mavlink_message_t* msg, mavlink_manual_setpoint_t* manual_setpoint) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS manual_setpoint->time_boot_ms = mavlink_msg_manual_setpoint_get_time_boot_ms(msg); manual_setpoint->roll = mavlink_msg_manual_setpoint_get_roll(msg); manual_setpoint->pitch = mavlink_msg_manual_setpoint_get_pitch(msg); manual_setpoint->yaw = mavlink_msg_manual_setpoint_get_yaw(msg); manual_setpoint->thrust = mavlink_msg_manual_setpoint_get_thrust(msg); manual_setpoint->mode_switch = mavlink_msg_manual_setpoint_get_mode_switch(msg); manual_setpoint->manual_override_switch = mavlink_msg_manual_setpoint_get_manual_override_switch(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN? msg->len : MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN; memset(manual_setpoint, 0, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); memcpy(manual_setpoint, _MAV_PAYLOAD(msg), len); #endif }