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

Last change on this file since 88 was 88, checked in by Sanahuja Guillaume, 5 years ago

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1// MESSAGE NAV_CONTROLLER_OUTPUT PACKING
2
3#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62
4
5typedef struct MAVLINK_PACKED __mavlink_nav_controller_output_t
6{
7 float nav_roll; /*< Current desired roll in degrees*/
8 float nav_pitch; /*< Current desired pitch in degrees*/
9 float alt_error; /*< Current altitude error in meters*/
10 float aspd_error; /*< Current airspeed error in meters/second*/
11 float xtrack_error; /*< Current crosstrack error on x-y plane in meters*/
12 int16_t nav_bearing; /*< Current desired heading in degrees*/
13 int16_t target_bearing; /*< Bearing to current MISSION/target in degrees*/
14 uint16_t wp_dist; /*< Distance to active MISSION in meters*/
15} mavlink_nav_controller_output_t;
16
17#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN 26
18#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN 26
19#define MAVLINK_MSG_ID_62_LEN 26
20#define MAVLINK_MSG_ID_62_MIN_LEN 26
21
22#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC 183
23#define MAVLINK_MSG_ID_62_CRC 183
24
25
26
27#if MAVLINK_COMMAND_24BIT
28#define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT { \
29        62, \
30        "NAV_CONTROLLER_OUTPUT", \
31        8, \
32        {  { "nav_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \
33         { "nav_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \
34         { "alt_error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_nav_controller_output_t, alt_error) }, \
35         { "aspd_error", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \
36         { "xtrack_error", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \
37         { "nav_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \
38         { "target_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \
39         { "wp_dist", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \
40         } \
41}
42#else
43#define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT { \
44        "NAV_CONTROLLER_OUTPUT", \
45        8, \
46        {  { "nav_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \
47         { "nav_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \
48         { "alt_error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_nav_controller_output_t, alt_error) }, \
49         { "aspd_error", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \
50         { "xtrack_error", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \
51         { "nav_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \
52         { "target_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \
53         { "wp_dist", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \
54         } \
55}
56#endif
57
58/**
59 * @brief Pack a nav_controller_output message
60 * @param system_id ID of this system
61 * @param component_id ID of this component (e.g. 200 for IMU)
62 * @param msg The MAVLink message to compress the data into
63 *
64 * @param nav_roll Current desired roll in degrees
65 * @param nav_pitch Current desired pitch in degrees
66 * @param nav_bearing Current desired heading in degrees
67 * @param target_bearing Bearing to current MISSION/target in degrees
68 * @param wp_dist Distance to active MISSION in meters
69 * @param alt_error Current altitude error in meters
70 * @param aspd_error Current airspeed error in meters/second
71 * @param xtrack_error Current crosstrack error on x-y plane in meters
72 * @return length of the message in bytes (excluding serial stream start sign)
73 */
74static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
75                                                       float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
76{
77#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
78        char buf[MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN];
79        _mav_put_float(buf, 0, nav_roll);
80        _mav_put_float(buf, 4, nav_pitch);
81        _mav_put_float(buf, 8, alt_error);
82        _mav_put_float(buf, 12, aspd_error);
83        _mav_put_float(buf, 16, xtrack_error);
84        _mav_put_int16_t(buf, 20, nav_bearing);
85        _mav_put_int16_t(buf, 22, target_bearing);
86        _mav_put_uint16_t(buf, 24, wp_dist);
87
88        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
89#else
90        mavlink_nav_controller_output_t packet;
91        packet.nav_roll = nav_roll;
92        packet.nav_pitch = nav_pitch;
93        packet.alt_error = alt_error;
94        packet.aspd_error = aspd_error;
95        packet.xtrack_error = xtrack_error;
96        packet.nav_bearing = nav_bearing;
97        packet.target_bearing = target_bearing;
98        packet.wp_dist = wp_dist;
99
100        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
101#endif
102
103        msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
104    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
105}
106
107/**
108 * @brief Pack a nav_controller_output message on a channel
109 * @param system_id ID of this system
110 * @param component_id ID of this component (e.g. 200 for IMU)
111 * @param chan The MAVLink channel this message will be sent over
112 * @param msg The MAVLink message to compress the data into
113 * @param nav_roll Current desired roll in degrees
114 * @param nav_pitch Current desired pitch in degrees
115 * @param nav_bearing Current desired heading in degrees
116 * @param target_bearing Bearing to current MISSION/target in degrees
117 * @param wp_dist Distance to active MISSION in meters
118 * @param alt_error Current altitude error in meters
119 * @param aspd_error Current airspeed error in meters/second
120 * @param xtrack_error Current crosstrack error on x-y plane in meters
121 * @return length of the message in bytes (excluding serial stream start sign)
122 */
123static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
124                                                           mavlink_message_t* msg,
125                                                           float nav_roll,float nav_pitch,int16_t nav_bearing,int16_t target_bearing,uint16_t wp_dist,float alt_error,float aspd_error,float xtrack_error)
126{
127#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
128        char buf[MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN];
129        _mav_put_float(buf, 0, nav_roll);
130        _mav_put_float(buf, 4, nav_pitch);
131        _mav_put_float(buf, 8, alt_error);
132        _mav_put_float(buf, 12, aspd_error);
133        _mav_put_float(buf, 16, xtrack_error);
134        _mav_put_int16_t(buf, 20, nav_bearing);
135        _mav_put_int16_t(buf, 22, target_bearing);
136        _mav_put_uint16_t(buf, 24, wp_dist);
137
138        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
139#else
140        mavlink_nav_controller_output_t packet;
141        packet.nav_roll = nav_roll;
142        packet.nav_pitch = nav_pitch;
143        packet.alt_error = alt_error;
144        packet.aspd_error = aspd_error;
145        packet.xtrack_error = xtrack_error;
146        packet.nav_bearing = nav_bearing;
147        packet.target_bearing = target_bearing;
148        packet.wp_dist = wp_dist;
149
150        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
151#endif
152
153        msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
154    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
155}
156
157/**
158 * @brief Encode a nav_controller_output struct
159 *
160 * @param system_id ID of this system
161 * @param component_id ID of this component (e.g. 200 for IMU)
162 * @param msg The MAVLink message to compress the data into
163 * @param nav_controller_output C-struct to read the message contents from
164 */
165static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output)
166{
167        return mavlink_msg_nav_controller_output_pack(system_id, component_id, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
168}
169
170/**
171 * @brief Encode a nav_controller_output struct on a channel
172 *
173 * @param system_id ID of this system
174 * @param component_id ID of this component (e.g. 200 for IMU)
175 * @param chan The MAVLink channel this message will be sent over
176 * @param msg The MAVLink message to compress the data into
177 * @param nav_controller_output C-struct to read the message contents from
178 */
179static inline uint16_t mavlink_msg_nav_controller_output_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output)
180{
181        return mavlink_msg_nav_controller_output_pack_chan(system_id, component_id, chan, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
182}
183
184/**
185 * @brief Send a nav_controller_output message
186 * @param chan MAVLink channel to send the message
187 *
188 * @param nav_roll Current desired roll in degrees
189 * @param nav_pitch Current desired pitch in degrees
190 * @param nav_bearing Current desired heading in degrees
191 * @param target_bearing Bearing to current MISSION/target in degrees
192 * @param wp_dist Distance to active MISSION in meters
193 * @param alt_error Current altitude error in meters
194 * @param aspd_error Current airspeed error in meters/second
195 * @param xtrack_error Current crosstrack error on x-y plane in meters
196 */
197#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
198
199static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
200{
201#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
202        char buf[MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN];
203        _mav_put_float(buf, 0, nav_roll);
204        _mav_put_float(buf, 4, nav_pitch);
205        _mav_put_float(buf, 8, alt_error);
206        _mav_put_float(buf, 12, aspd_error);
207        _mav_put_float(buf, 16, xtrack_error);
208        _mav_put_int16_t(buf, 20, nav_bearing);
209        _mav_put_int16_t(buf, 22, target_bearing);
210        _mav_put_uint16_t(buf, 24, wp_dist);
211
212    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
213#else
214        mavlink_nav_controller_output_t packet;
215        packet.nav_roll = nav_roll;
216        packet.nav_pitch = nav_pitch;
217        packet.alt_error = alt_error;
218        packet.aspd_error = aspd_error;
219        packet.xtrack_error = xtrack_error;
220        packet.nav_bearing = nav_bearing;
221        packet.target_bearing = target_bearing;
222        packet.wp_dist = wp_dist;
223
224    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)&packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
225#endif
226}
227
228/**
229 * @brief Send a nav_controller_output message
230 * @param chan MAVLink channel to send the message
231 * @param struct The MAVLink struct to serialize
232 */
233static inline void mavlink_msg_nav_controller_output_send_struct(mavlink_channel_t chan, const mavlink_nav_controller_output_t* nav_controller_output)
234{
235#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
236    mavlink_msg_nav_controller_output_send(chan, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
237#else
238    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)nav_controller_output, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
239#endif
240}
241
242#if MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
243/*
244  This varient of _send() can be used to save stack space by re-using
245  memory from the receive buffer.  The caller provides a
246  mavlink_message_t which is the size of a full mavlink message. This
247  is usually the receive buffer for the channel, and allows a reply to an
248  incoming message with minimum stack space usage.
249 */
250static inline void mavlink_msg_nav_controller_output_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
251{
252#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
253        char *buf = (char *)msgbuf;
254        _mav_put_float(buf, 0, nav_roll);
255        _mav_put_float(buf, 4, nav_pitch);
256        _mav_put_float(buf, 8, alt_error);
257        _mav_put_float(buf, 12, aspd_error);
258        _mav_put_float(buf, 16, xtrack_error);
259        _mav_put_int16_t(buf, 20, nav_bearing);
260        _mav_put_int16_t(buf, 22, target_bearing);
261        _mav_put_uint16_t(buf, 24, wp_dist);
262
263    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
264#else
265        mavlink_nav_controller_output_t *packet = (mavlink_nav_controller_output_t *)msgbuf;
266        packet->nav_roll = nav_roll;
267        packet->nav_pitch = nav_pitch;
268        packet->alt_error = alt_error;
269        packet->aspd_error = aspd_error;
270        packet->xtrack_error = xtrack_error;
271        packet->nav_bearing = nav_bearing;
272        packet->target_bearing = target_bearing;
273        packet->wp_dist = wp_dist;
274
275    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
276#endif
277}
278#endif
279
280#endif
281
282// MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING
283
284
285/**
286 * @brief Get field nav_roll from nav_controller_output message
287 *
288 * @return Current desired roll in degrees
289 */
290static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink_message_t* msg)
291{
292        return _MAV_RETURN_float(msg,  0);
293}
294
295/**
296 * @brief Get field nav_pitch from nav_controller_output message
297 *
298 * @return Current desired pitch in degrees
299 */
300static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlink_message_t* msg)
301{
302        return _MAV_RETURN_float(msg,  4);
303}
304
305/**
306 * @brief Get field nav_bearing from nav_controller_output message
307 *
308 * @return Current desired heading in degrees
309 */
310static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t* msg)
311{
312        return _MAV_RETURN_int16_t(msg,  20);
313}
314
315/**
316 * @brief Get field target_bearing from nav_controller_output message
317 *
318 * @return Bearing to current MISSION/target in degrees
319 */
320static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t* msg)
321{
322        return _MAV_RETURN_int16_t(msg,  22);
323}
324
325/**
326 * @brief Get field wp_dist from nav_controller_output message
327 *
328 * @return Distance to active MISSION in meters
329 */
330static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t* msg)
331{
332        return _MAV_RETURN_uint16_t(msg,  24);
333}
334
335/**
336 * @brief Get field alt_error from nav_controller_output message
337 *
338 * @return Current altitude error in meters
339 */
340static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t* msg)
341{
342        return _MAV_RETURN_float(msg,  8);
343}
344
345/**
346 * @brief Get field aspd_error from nav_controller_output message
347 *
348 * @return Current airspeed error in meters/second
349 */
350static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t* msg)
351{
352        return _MAV_RETURN_float(msg,  12);
353}
354
355/**
356 * @brief Get field xtrack_error from nav_controller_output message
357 *
358 * @return Current crosstrack error on x-y plane in meters
359 */
360static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t* msg)
361{
362        return _MAV_RETURN_float(msg,  16);
363}
364
365/**
366 * @brief Decode a nav_controller_output message into a struct
367 *
368 * @param msg The message to decode
369 * @param nav_controller_output C-struct to decode the message contents into
370 */
371static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t* msg, mavlink_nav_controller_output_t* nav_controller_output)
372{
373#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
374        nav_controller_output->nav_roll = mavlink_msg_nav_controller_output_get_nav_roll(msg);
375        nav_controller_output->nav_pitch = mavlink_msg_nav_controller_output_get_nav_pitch(msg);
376        nav_controller_output->alt_error = mavlink_msg_nav_controller_output_get_alt_error(msg);
377        nav_controller_output->aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(msg);
378        nav_controller_output->xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(msg);
379        nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg);
380        nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg);
381        nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg);
382#else
383        uint8_t len = msg->len < MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN? msg->len : MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN;
384        memset(nav_controller_output, 0, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
385        memcpy(nav_controller_output, _MAV_PAYLOAD(msg), len);
386#endif
387}
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