[88] | 1 | // MESSAGE MISSION_ITEM PACKING
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| 2 |
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| 3 | #define MAVLINK_MSG_ID_MISSION_ITEM 39
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| 4 |
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| 5 | typedef struct MAVLINK_PACKED __mavlink_mission_item_t
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| 6 | {
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| 7 | float param1; /*< PARAM1, see MAV_CMD enum*/
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| 8 | float param2; /*< PARAM2, see MAV_CMD enum*/
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| 9 | float param3; /*< PARAM3, see MAV_CMD enum*/
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| 10 | float param4; /*< PARAM4, see MAV_CMD enum*/
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| 11 | float x; /*< PARAM5 / local: x position, global: latitude*/
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| 12 | float y; /*< PARAM6 / y position: global: longitude*/
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| 13 | float z; /*< PARAM7 / z position: global: altitude (relative or absolute, depending on frame.*/
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| 14 | uint16_t seq; /*< Sequence*/
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| 15 | uint16_t command; /*< The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs*/
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| 16 | uint8_t target_system; /*< System ID*/
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| 17 | uint8_t target_component; /*< Component ID*/
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| 18 | uint8_t frame; /*< The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h*/
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| 19 | uint8_t current; /*< false:0, true:1*/
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| 20 | uint8_t autocontinue; /*< autocontinue to next wp*/
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| 21 | } mavlink_mission_item_t;
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| 22 |
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| 23 | #define MAVLINK_MSG_ID_MISSION_ITEM_LEN 37
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| 24 | #define MAVLINK_MSG_ID_MISSION_ITEM_MIN_LEN 37
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| 25 | #define MAVLINK_MSG_ID_39_LEN 37
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| 26 | #define MAVLINK_MSG_ID_39_MIN_LEN 37
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| 27 |
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| 28 | #define MAVLINK_MSG_ID_MISSION_ITEM_CRC 254
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| 29 | #define MAVLINK_MSG_ID_39_CRC 254
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| 30 |
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| 31 |
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| 32 |
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| 33 | #if MAVLINK_COMMAND_24BIT
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| 34 | #define MAVLINK_MESSAGE_INFO_MISSION_ITEM { \
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| 35 | 39, \
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| 36 | "MISSION_ITEM", \
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| 37 | 14, \
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| 38 | { { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_mission_item_t, param1) }, \
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| 39 | { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mission_item_t, param2) }, \
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| 40 | { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mission_item_t, param3) }, \
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| 41 | { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_mission_item_t, param4) }, \
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| 42 | { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_mission_item_t, x) }, \
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| 43 | { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_mission_item_t, y) }, \
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| 44 | { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_mission_item_t, z) }, \
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| 45 | { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_mission_item_t, seq) }, \
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| 46 | { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_mission_item_t, command) }, \
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| 47 | { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_mission_item_t, target_system) }, \
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| 48 | { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_mission_item_t, target_component) }, \
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| 49 | { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_mission_item_t, frame) }, \
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| 50 | { "current", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_mission_item_t, current) }, \
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| 51 | { "autocontinue", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_mission_item_t, autocontinue) }, \
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| 52 | } \
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| 53 | }
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| 54 | #else
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| 55 | #define MAVLINK_MESSAGE_INFO_MISSION_ITEM { \
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| 56 | "MISSION_ITEM", \
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| 57 | 14, \
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| 58 | { { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_mission_item_t, param1) }, \
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| 59 | { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mission_item_t, param2) }, \
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| 60 | { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mission_item_t, param3) }, \
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| 61 | { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_mission_item_t, param4) }, \
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| 62 | { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_mission_item_t, x) }, \
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| 63 | { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_mission_item_t, y) }, \
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| 64 | { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_mission_item_t, z) }, \
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| 65 | { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_mission_item_t, seq) }, \
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| 66 | { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_mission_item_t, command) }, \
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| 67 | { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_mission_item_t, target_system) }, \
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| 68 | { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_mission_item_t, target_component) }, \
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| 69 | { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_mission_item_t, frame) }, \
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| 70 | { "current", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_mission_item_t, current) }, \
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| 71 | { "autocontinue", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_mission_item_t, autocontinue) }, \
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| 72 | } \
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| 73 | }
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| 74 | #endif
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| 75 |
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| 76 | /**
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| 77 | * @brief Pack a mission_item message
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| 78 | * @param system_id ID of this system
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| 79 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 80 | * @param msg The MAVLink message to compress the data into
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| 81 | *
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| 82 | * @param target_system System ID
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| 83 | * @param target_component Component ID
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| 84 | * @param seq Sequence
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| 85 | * @param frame The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
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| 86 | * @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
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| 87 | * @param current false:0, true:1
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| 88 | * @param autocontinue autocontinue to next wp
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| 89 | * @param param1 PARAM1, see MAV_CMD enum
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| 90 | * @param param2 PARAM2, see MAV_CMD enum
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| 91 | * @param param3 PARAM3, see MAV_CMD enum
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| 92 | * @param param4 PARAM4, see MAV_CMD enum
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| 93 | * @param x PARAM5 / local: x position, global: latitude
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| 94 | * @param y PARAM6 / y position: global: longitude
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| 95 | * @param z PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
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| 96 | * @return length of the message in bytes (excluding serial stream start sign)
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| 97 | */
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| 98 | static inline uint16_t mavlink_msg_mission_item_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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| 99 | uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
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| 100 | {
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| 101 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 102 | char buf[MAVLINK_MSG_ID_MISSION_ITEM_LEN];
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| 103 | _mav_put_float(buf, 0, param1);
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| 104 | _mav_put_float(buf, 4, param2);
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| 105 | _mav_put_float(buf, 8, param3);
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| 106 | _mav_put_float(buf, 12, param4);
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| 107 | _mav_put_float(buf, 16, x);
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| 108 | _mav_put_float(buf, 20, y);
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| 109 | _mav_put_float(buf, 24, z);
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| 110 | _mav_put_uint16_t(buf, 28, seq);
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| 111 | _mav_put_uint16_t(buf, 30, command);
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| 112 | _mav_put_uint8_t(buf, 32, target_system);
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| 113 | _mav_put_uint8_t(buf, 33, target_component);
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| 114 | _mav_put_uint8_t(buf, 34, frame);
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| 115 | _mav_put_uint8_t(buf, 35, current);
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| 116 | _mav_put_uint8_t(buf, 36, autocontinue);
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| 117 |
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| 118 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_ITEM_LEN);
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| 119 | #else
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| 120 | mavlink_mission_item_t packet;
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| 121 | packet.param1 = param1;
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| 122 | packet.param2 = param2;
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| 123 | packet.param3 = param3;
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| 124 | packet.param4 = param4;
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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.seq = seq;
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| 129 | packet.command = command;
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| 130 | packet.target_system = target_system;
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| 131 | packet.target_component = target_component;
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| 132 | packet.frame = frame;
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| 133 | packet.current = current;
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| 134 | packet.autocontinue = autocontinue;
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| 135 |
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| 136 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_ITEM_LEN);
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| 137 | #endif
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| 138 |
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| 139 | msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM;
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| 140 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_ITEM_MIN_LEN, MAVLINK_MSG_ID_MISSION_ITEM_LEN, MAVLINK_MSG_ID_MISSION_ITEM_CRC);
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| 141 | }
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| 142 |
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| 143 | /**
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| 144 | * @brief Pack a mission_item message on a channel
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| 145 | * @param system_id ID of this system
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| 146 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 147 | * @param chan The MAVLink channel this message will be sent over
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| 148 | * @param msg The MAVLink message to compress the data into
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| 149 | * @param target_system System ID
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| 150 | * @param target_component Component ID
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| 151 | * @param seq Sequence
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| 152 | * @param frame The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
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| 153 | * @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
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| 154 | * @param current false:0, true:1
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| 155 | * @param autocontinue autocontinue to next wp
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| 156 | * @param param1 PARAM1, see MAV_CMD enum
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| 157 | * @param param2 PARAM2, see MAV_CMD enum
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| 158 | * @param param3 PARAM3, see MAV_CMD enum
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| 159 | * @param param4 PARAM4, see MAV_CMD enum
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| 160 | * @param x PARAM5 / local: x position, global: latitude
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| 161 | * @param y PARAM6 / y position: global: longitude
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| 162 | * @param z PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
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| 163 | * @return length of the message in bytes (excluding serial stream start sign)
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| 164 | */
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| 165 | static inline uint16_t mavlink_msg_mission_item_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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| 166 | mavlink_message_t* msg,
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| 167 | uint8_t target_system,uint8_t target_component,uint16_t seq,uint8_t frame,uint16_t command,uint8_t current,uint8_t autocontinue,float param1,float param2,float param3,float param4,float x,float y,float z)
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| 168 | {
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| 169 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 170 | char buf[MAVLINK_MSG_ID_MISSION_ITEM_LEN];
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| 171 | _mav_put_float(buf, 0, param1);
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| 172 | _mav_put_float(buf, 4, param2);
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| 173 | _mav_put_float(buf, 8, param3);
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| 174 | _mav_put_float(buf, 12, param4);
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| 175 | _mav_put_float(buf, 16, x);
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| 176 | _mav_put_float(buf, 20, y);
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| 177 | _mav_put_float(buf, 24, z);
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| 178 | _mav_put_uint16_t(buf, 28, seq);
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| 179 | _mav_put_uint16_t(buf, 30, command);
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| 180 | _mav_put_uint8_t(buf, 32, target_system);
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| 181 | _mav_put_uint8_t(buf, 33, target_component);
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| 182 | _mav_put_uint8_t(buf, 34, frame);
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| 183 | _mav_put_uint8_t(buf, 35, current);
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| 184 | _mav_put_uint8_t(buf, 36, autocontinue);
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| 185 |
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| 186 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_ITEM_LEN);
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| 187 | #else
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| 188 | mavlink_mission_item_t packet;
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| 189 | packet.param1 = param1;
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| 190 | packet.param2 = param2;
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| 191 | packet.param3 = param3;
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| 192 | packet.param4 = param4;
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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.seq = seq;
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| 197 | packet.command = command;
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| 198 | packet.target_system = target_system;
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| 199 | packet.target_component = target_component;
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| 200 | packet.frame = frame;
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| 201 | packet.current = current;
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| 202 | packet.autocontinue = autocontinue;
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| 203 |
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| 204 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_ITEM_LEN);
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| 205 | #endif
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| 206 |
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| 207 | msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM;
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| 208 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_ITEM_MIN_LEN, MAVLINK_MSG_ID_MISSION_ITEM_LEN, MAVLINK_MSG_ID_MISSION_ITEM_CRC);
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| 209 | }
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| 210 |
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| 211 | /**
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| 212 | * @brief Encode a mission_item struct
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| 213 | *
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| 214 | * @param system_id ID of this system
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| 215 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 216 | * @param msg The MAVLink message to compress the data into
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| 217 | * @param mission_item C-struct to read the message contents from
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| 218 | */
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| 219 | static inline uint16_t mavlink_msg_mission_item_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_item_t* mission_item)
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| 220 | {
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| 221 | return mavlink_msg_mission_item_pack(system_id, component_id, msg, mission_item->target_system, mission_item->target_component, mission_item->seq, mission_item->frame, mission_item->command, mission_item->current, mission_item->autocontinue, mission_item->param1, mission_item->param2, mission_item->param3, mission_item->param4, mission_item->x, mission_item->y, mission_item->z);
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| 222 | }
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| 223 |
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| 224 | /**
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| 225 | * @brief Encode a mission_item struct on a channel
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| 226 | *
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| 227 | * @param system_id ID of this system
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| 228 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 229 | * @param chan The MAVLink channel this message will be sent over
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| 230 | * @param msg The MAVLink message to compress the data into
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| 231 | * @param mission_item C-struct to read the message contents from
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| 232 | */
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| 233 | static inline uint16_t mavlink_msg_mission_item_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mission_item_t* mission_item)
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| 234 | {
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| 235 | return mavlink_msg_mission_item_pack_chan(system_id, component_id, chan, msg, mission_item->target_system, mission_item->target_component, mission_item->seq, mission_item->frame, mission_item->command, mission_item->current, mission_item->autocontinue, mission_item->param1, mission_item->param2, mission_item->param3, mission_item->param4, mission_item->x, mission_item->y, mission_item->z);
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| 236 | }
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| 237 |
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| 238 | /**
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| 239 | * @brief Send a mission_item message
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| 240 | * @param chan MAVLink channel to send the message
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| 241 | *
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| 242 | * @param target_system System ID
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| 243 | * @param target_component Component ID
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| 244 | * @param seq Sequence
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| 245 | * @param frame The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
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| 246 | * @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
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| 247 | * @param current false:0, true:1
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| 248 | * @param autocontinue autocontinue to next wp
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| 249 | * @param param1 PARAM1, see MAV_CMD enum
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| 250 | * @param param2 PARAM2, see MAV_CMD enum
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| 251 | * @param param3 PARAM3, see MAV_CMD enum
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| 252 | * @param param4 PARAM4, see MAV_CMD enum
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| 253 | * @param x PARAM5 / local: x position, global: latitude
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| 254 | * @param y PARAM6 / y position: global: longitude
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| 255 | * @param z PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
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| 256 | */
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| 257 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 258 |
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| 259 | static inline void mavlink_msg_mission_item_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
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| 260 | {
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| 261 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 262 | char buf[MAVLINK_MSG_ID_MISSION_ITEM_LEN];
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| 263 | _mav_put_float(buf, 0, param1);
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| 264 | _mav_put_float(buf, 4, param2);
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| 265 | _mav_put_float(buf, 8, param3);
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| 266 | _mav_put_float(buf, 12, param4);
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| 267 | _mav_put_float(buf, 16, x);
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| 268 | _mav_put_float(buf, 20, y);
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| 269 | _mav_put_float(buf, 24, z);
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| 270 | _mav_put_uint16_t(buf, 28, seq);
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| 271 | _mav_put_uint16_t(buf, 30, command);
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| 272 | _mav_put_uint8_t(buf, 32, target_system);
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| 273 | _mav_put_uint8_t(buf, 33, target_component);
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| 274 | _mav_put_uint8_t(buf, 34, frame);
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| 275 | _mav_put_uint8_t(buf, 35, current);
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| 276 | _mav_put_uint8_t(buf, 36, autocontinue);
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| 277 |
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| 278 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, buf, MAVLINK_MSG_ID_MISSION_ITEM_MIN_LEN, MAVLINK_MSG_ID_MISSION_ITEM_LEN, MAVLINK_MSG_ID_MISSION_ITEM_CRC);
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| 279 | #else
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| 280 | mavlink_mission_item_t packet;
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| 281 | packet.param1 = param1;
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| 282 | packet.param2 = param2;
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| 283 | packet.param3 = param3;
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| 284 | packet.param4 = param4;
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| 285 | packet.x = x;
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| 286 | packet.y = y;
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| 287 | packet.z = z;
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| 288 | packet.seq = seq;
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| 289 | packet.command = command;
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| 290 | packet.target_system = target_system;
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| 291 | packet.target_component = target_component;
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| 292 | packet.frame = frame;
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| 293 | packet.current = current;
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| 294 | packet.autocontinue = autocontinue;
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| 295 |
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| 296 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, (const char *)&packet, MAVLINK_MSG_ID_MISSION_ITEM_MIN_LEN, MAVLINK_MSG_ID_MISSION_ITEM_LEN, MAVLINK_MSG_ID_MISSION_ITEM_CRC);
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| 297 | #endif
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| 298 | }
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| 299 |
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| 300 | /**
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| 301 | * @brief Send a mission_item message
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| 302 | * @param chan MAVLink channel to send the message
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| 303 | * @param struct The MAVLink struct to serialize
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| 304 | */
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| 305 | static inline void mavlink_msg_mission_item_send_struct(mavlink_channel_t chan, const mavlink_mission_item_t* mission_item)
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| 306 | {
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| 307 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 308 | mavlink_msg_mission_item_send(chan, mission_item->target_system, mission_item->target_component, mission_item->seq, mission_item->frame, mission_item->command, mission_item->current, mission_item->autocontinue, mission_item->param1, mission_item->param2, mission_item->param3, mission_item->param4, mission_item->x, mission_item->y, mission_item->z);
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| 309 | #else
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| 310 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, (const char *)mission_item, MAVLINK_MSG_ID_MISSION_ITEM_MIN_LEN, MAVLINK_MSG_ID_MISSION_ITEM_LEN, MAVLINK_MSG_ID_MISSION_ITEM_CRC);
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| 311 | #endif
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| 312 | }
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| 313 |
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| 314 | #if MAVLINK_MSG_ID_MISSION_ITEM_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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| 315 | /*
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| 316 | This varient of _send() can be used to save stack space by re-using
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| 317 | memory from the receive buffer. The caller provides a
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| 318 | mavlink_message_t which is the size of a full mavlink message. This
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| 319 | is usually the receive buffer for the channel, and allows a reply to an
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| 320 | incoming message with minimum stack space usage.
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| 321 | */
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| 322 | static inline void mavlink_msg_mission_item_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
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| 323 | {
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| 324 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 325 | char *buf = (char *)msgbuf;
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| 326 | _mav_put_float(buf, 0, param1);
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| 327 | _mav_put_float(buf, 4, param2);
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| 328 | _mav_put_float(buf, 8, param3);
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| 329 | _mav_put_float(buf, 12, param4);
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| 330 | _mav_put_float(buf, 16, x);
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| 331 | _mav_put_float(buf, 20, y);
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| 332 | _mav_put_float(buf, 24, z);
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| 333 | _mav_put_uint16_t(buf, 28, seq);
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| 334 | _mav_put_uint16_t(buf, 30, command);
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| 335 | _mav_put_uint8_t(buf, 32, target_system);
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| 336 | _mav_put_uint8_t(buf, 33, target_component);
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| 337 | _mav_put_uint8_t(buf, 34, frame);
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| 338 | _mav_put_uint8_t(buf, 35, current);
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| 339 | _mav_put_uint8_t(buf, 36, autocontinue);
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| 340 |
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| 341 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, buf, MAVLINK_MSG_ID_MISSION_ITEM_MIN_LEN, MAVLINK_MSG_ID_MISSION_ITEM_LEN, MAVLINK_MSG_ID_MISSION_ITEM_CRC);
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| 342 | #else
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| 343 | mavlink_mission_item_t *packet = (mavlink_mission_item_t *)msgbuf;
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| 344 | packet->param1 = param1;
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| 345 | packet->param2 = param2;
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| 346 | packet->param3 = param3;
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| 347 | packet->param4 = param4;
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| 348 | packet->x = x;
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| 349 | packet->y = y;
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| 350 | packet->z = z;
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| 351 | packet->seq = seq;
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| 352 | packet->command = command;
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| 353 | packet->target_system = target_system;
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| 354 | packet->target_component = target_component;
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| 355 | packet->frame = frame;
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| 356 | packet->current = current;
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| 357 | packet->autocontinue = autocontinue;
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| 358 |
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| 359 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, (const char *)packet, MAVLINK_MSG_ID_MISSION_ITEM_MIN_LEN, MAVLINK_MSG_ID_MISSION_ITEM_LEN, MAVLINK_MSG_ID_MISSION_ITEM_CRC);
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| 360 | #endif
|
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| 361 | }
|
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| 362 | #endif
|
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| 363 |
|
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| 364 | #endif
|
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| 365 |
|
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| 366 | // MESSAGE MISSION_ITEM UNPACKING
|
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| 367 |
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| 368 |
|
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| 369 | /**
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| 370 | * @brief Get field target_system from mission_item message
|
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| 371 | *
|
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| 372 | * @return System ID
|
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| 373 | */
|
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| 374 | static inline uint8_t mavlink_msg_mission_item_get_target_system(const mavlink_message_t* msg)
|
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| 375 | {
|
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| 376 | return _MAV_RETURN_uint8_t(msg, 32);
|
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| 377 | }
|
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| 378 |
|
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| 379 | /**
|
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| 380 | * @brief Get field target_component from mission_item message
|
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| 381 | *
|
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| 382 | * @return Component ID
|
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| 383 | */
|
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| 384 | static inline uint8_t mavlink_msg_mission_item_get_target_component(const mavlink_message_t* msg)
|
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| 385 | {
|
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| 386 | return _MAV_RETURN_uint8_t(msg, 33);
|
---|
| 387 | }
|
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| 388 |
|
---|
| 389 | /**
|
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| 390 | * @brief Get field seq from mission_item message
|
---|
| 391 | *
|
---|
| 392 | * @return Sequence
|
---|
| 393 | */
|
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| 394 | static inline uint16_t mavlink_msg_mission_item_get_seq(const mavlink_message_t* msg)
|
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| 395 | {
|
---|
| 396 | return _MAV_RETURN_uint16_t(msg, 28);
|
---|
| 397 | }
|
---|
| 398 |
|
---|
| 399 | /**
|
---|
| 400 | * @brief Get field frame from mission_item message
|
---|
| 401 | *
|
---|
| 402 | * @return The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
|
---|
| 403 | */
|
---|
| 404 | static inline uint8_t mavlink_msg_mission_item_get_frame(const mavlink_message_t* msg)
|
---|
| 405 | {
|
---|
| 406 | return _MAV_RETURN_uint8_t(msg, 34);
|
---|
| 407 | }
|
---|
| 408 |
|
---|
| 409 | /**
|
---|
| 410 | * @brief Get field command from mission_item message
|
---|
| 411 | *
|
---|
| 412 | * @return The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
|
---|
| 413 | */
|
---|
| 414 | static inline uint16_t mavlink_msg_mission_item_get_command(const mavlink_message_t* msg)
|
---|
| 415 | {
|
---|
| 416 | return _MAV_RETURN_uint16_t(msg, 30);
|
---|
| 417 | }
|
---|
| 418 |
|
---|
| 419 | /**
|
---|
| 420 | * @brief Get field current from mission_item message
|
---|
| 421 | *
|
---|
| 422 | * @return false:0, true:1
|
---|
| 423 | */
|
---|
| 424 | static inline uint8_t mavlink_msg_mission_item_get_current(const mavlink_message_t* msg)
|
---|
| 425 | {
|
---|
| 426 | return _MAV_RETURN_uint8_t(msg, 35);
|
---|
| 427 | }
|
---|
| 428 |
|
---|
| 429 | /**
|
---|
| 430 | * @brief Get field autocontinue from mission_item message
|
---|
| 431 | *
|
---|
| 432 | * @return autocontinue to next wp
|
---|
| 433 | */
|
---|
| 434 | static inline uint8_t mavlink_msg_mission_item_get_autocontinue(const mavlink_message_t* msg)
|
---|
| 435 | {
|
---|
| 436 | return _MAV_RETURN_uint8_t(msg, 36);
|
---|
| 437 | }
|
---|
| 438 |
|
---|
| 439 | /**
|
---|
| 440 | * @brief Get field param1 from mission_item message
|
---|
| 441 | *
|
---|
| 442 | * @return PARAM1, see MAV_CMD enum
|
---|
| 443 | */
|
---|
| 444 | static inline float mavlink_msg_mission_item_get_param1(const mavlink_message_t* msg)
|
---|
| 445 | {
|
---|
| 446 | return _MAV_RETURN_float(msg, 0);
|
---|
| 447 | }
|
---|
| 448 |
|
---|
| 449 | /**
|
---|
| 450 | * @brief Get field param2 from mission_item message
|
---|
| 451 | *
|
---|
| 452 | * @return PARAM2, see MAV_CMD enum
|
---|
| 453 | */
|
---|
| 454 | static inline float mavlink_msg_mission_item_get_param2(const mavlink_message_t* msg)
|
---|
| 455 | {
|
---|
| 456 | return _MAV_RETURN_float(msg, 4);
|
---|
| 457 | }
|
---|
| 458 |
|
---|
| 459 | /**
|
---|
| 460 | * @brief Get field param3 from mission_item message
|
---|
| 461 | *
|
---|
| 462 | * @return PARAM3, see MAV_CMD enum
|
---|
| 463 | */
|
---|
| 464 | static inline float mavlink_msg_mission_item_get_param3(const mavlink_message_t* msg)
|
---|
| 465 | {
|
---|
| 466 | return _MAV_RETURN_float(msg, 8);
|
---|
| 467 | }
|
---|
| 468 |
|
---|
| 469 | /**
|
---|
| 470 | * @brief Get field param4 from mission_item message
|
---|
| 471 | *
|
---|
| 472 | * @return PARAM4, see MAV_CMD enum
|
---|
| 473 | */
|
---|
| 474 | static inline float mavlink_msg_mission_item_get_param4(const mavlink_message_t* msg)
|
---|
| 475 | {
|
---|
| 476 | return _MAV_RETURN_float(msg, 12);
|
---|
| 477 | }
|
---|
| 478 |
|
---|
| 479 | /**
|
---|
| 480 | * @brief Get field x from mission_item message
|
---|
| 481 | *
|
---|
| 482 | * @return PARAM5 / local: x position, global: latitude
|
---|
| 483 | */
|
---|
| 484 | static inline float mavlink_msg_mission_item_get_x(const mavlink_message_t* msg)
|
---|
| 485 | {
|
---|
| 486 | return _MAV_RETURN_float(msg, 16);
|
---|
| 487 | }
|
---|
| 488 |
|
---|
| 489 | /**
|
---|
| 490 | * @brief Get field y from mission_item message
|
---|
| 491 | *
|
---|
| 492 | * @return PARAM6 / y position: global: longitude
|
---|
| 493 | */
|
---|
| 494 | static inline float mavlink_msg_mission_item_get_y(const mavlink_message_t* msg)
|
---|
| 495 | {
|
---|
| 496 | return _MAV_RETURN_float(msg, 20);
|
---|
| 497 | }
|
---|
| 498 |
|
---|
| 499 | /**
|
---|
| 500 | * @brief Get field z from mission_item message
|
---|
| 501 | *
|
---|
| 502 | * @return PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
|
---|
| 503 | */
|
---|
| 504 | static inline float mavlink_msg_mission_item_get_z(const mavlink_message_t* msg)
|
---|
| 505 | {
|
---|
| 506 | return _MAV_RETURN_float(msg, 24);
|
---|
| 507 | }
|
---|
| 508 |
|
---|
| 509 | /**
|
---|
| 510 | * @brief Decode a mission_item message into a struct
|
---|
| 511 | *
|
---|
| 512 | * @param msg The message to decode
|
---|
| 513 | * @param mission_item C-struct to decode the message contents into
|
---|
| 514 | */
|
---|
| 515 | static inline void mavlink_msg_mission_item_decode(const mavlink_message_t* msg, mavlink_mission_item_t* mission_item)
|
---|
| 516 | {
|
---|
| 517 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
---|
| 518 | mission_item->param1 = mavlink_msg_mission_item_get_param1(msg);
|
---|
| 519 | mission_item->param2 = mavlink_msg_mission_item_get_param2(msg);
|
---|
| 520 | mission_item->param3 = mavlink_msg_mission_item_get_param3(msg);
|
---|
| 521 | mission_item->param4 = mavlink_msg_mission_item_get_param4(msg);
|
---|
| 522 | mission_item->x = mavlink_msg_mission_item_get_x(msg);
|
---|
| 523 | mission_item->y = mavlink_msg_mission_item_get_y(msg);
|
---|
| 524 | mission_item->z = mavlink_msg_mission_item_get_z(msg);
|
---|
| 525 | mission_item->seq = mavlink_msg_mission_item_get_seq(msg);
|
---|
| 526 | mission_item->command = mavlink_msg_mission_item_get_command(msg);
|
---|
| 527 | mission_item->target_system = mavlink_msg_mission_item_get_target_system(msg);
|
---|
| 528 | mission_item->target_component = mavlink_msg_mission_item_get_target_component(msg);
|
---|
| 529 | mission_item->frame = mavlink_msg_mission_item_get_frame(msg);
|
---|
| 530 | mission_item->current = mavlink_msg_mission_item_get_current(msg);
|
---|
| 531 | mission_item->autocontinue = mavlink_msg_mission_item_get_autocontinue(msg);
|
---|
| 532 | #else
|
---|
| 533 | uint8_t len = msg->len < MAVLINK_MSG_ID_MISSION_ITEM_LEN? msg->len : MAVLINK_MSG_ID_MISSION_ITEM_LEN;
|
---|
| 534 | memset(mission_item, 0, MAVLINK_MSG_ID_MISSION_ITEM_LEN);
|
---|
| 535 | memcpy(mission_item, _MAV_PAYLOAD(msg), len);
|
---|
| 536 | #endif
|
---|
| 537 | }
|
---|