// MESSAGE NAV_CONTROLLER_OUTPUT PACKING #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62 typedef struct MAVLINK_PACKED __mavlink_nav_controller_output_t { float nav_roll; /*< Current desired roll in degrees*/ float nav_pitch; /*< Current desired pitch in degrees*/ float alt_error; /*< Current altitude error in meters*/ float aspd_error; /*< Current airspeed error in meters/second*/ float xtrack_error; /*< Current crosstrack error on x-y plane in meters*/ int16_t nav_bearing; /*< Current desired heading in degrees*/ int16_t target_bearing; /*< Bearing to current MISSION/target in degrees*/ uint16_t wp_dist; /*< Distance to active MISSION in meters*/ } mavlink_nav_controller_output_t; #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN 26 #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN 26 #define MAVLINK_MSG_ID_62_LEN 26 #define MAVLINK_MSG_ID_62_MIN_LEN 26 #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC 183 #define MAVLINK_MSG_ID_62_CRC 183 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT { \ 62, \ "NAV_CONTROLLER_OUTPUT", \ 8, \ { { "nav_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \ { "nav_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \ { "alt_error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_nav_controller_output_t, alt_error) }, \ { "aspd_error", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \ { "xtrack_error", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \ { "nav_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \ { "target_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \ { "wp_dist", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT { \ "NAV_CONTROLLER_OUTPUT", \ 8, \ { { "nav_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \ { "nav_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \ { "alt_error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_nav_controller_output_t, alt_error) }, \ { "aspd_error", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \ { "xtrack_error", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \ { "nav_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \ { "target_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \ { "wp_dist", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \ } \ } #endif /** * @brief Pack a nav_controller_output 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 nav_roll Current desired roll in degrees * @param nav_pitch Current desired pitch in degrees * @param nav_bearing Current desired heading in degrees * @param target_bearing Bearing to current MISSION/target in degrees * @param wp_dist Distance to active MISSION in meters * @param alt_error Current altitude error in meters * @param aspd_error Current airspeed error in meters/second * @param xtrack_error Current crosstrack error on x-y plane in meters * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN]; _mav_put_float(buf, 0, nav_roll); _mav_put_float(buf, 4, nav_pitch); _mav_put_float(buf, 8, alt_error); _mav_put_float(buf, 12, aspd_error); _mav_put_float(buf, 16, xtrack_error); _mav_put_int16_t(buf, 20, nav_bearing); _mav_put_int16_t(buf, 22, target_bearing); _mav_put_uint16_t(buf, 24, wp_dist); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN); #else mavlink_nav_controller_output_t packet; packet.nav_roll = nav_roll; packet.nav_pitch = nav_pitch; packet.alt_error = alt_error; packet.aspd_error = aspd_error; packet.xtrack_error = xtrack_error; packet.nav_bearing = nav_bearing; packet.target_bearing = target_bearing; packet.wp_dist = wp_dist; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN); #endif msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; 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); } /** * @brief Pack a nav_controller_output 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 nav_roll Current desired roll in degrees * @param nav_pitch Current desired pitch in degrees * @param nav_bearing Current desired heading in degrees * @param target_bearing Bearing to current MISSION/target in degrees * @param wp_dist Distance to active MISSION in meters * @param alt_error Current altitude error in meters * @param aspd_error Current airspeed error in meters/second * @param xtrack_error Current crosstrack error on x-y plane in meters * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN]; _mav_put_float(buf, 0, nav_roll); _mav_put_float(buf, 4, nav_pitch); _mav_put_float(buf, 8, alt_error); _mav_put_float(buf, 12, aspd_error); _mav_put_float(buf, 16, xtrack_error); _mav_put_int16_t(buf, 20, nav_bearing); _mav_put_int16_t(buf, 22, target_bearing); _mav_put_uint16_t(buf, 24, wp_dist); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN); #else mavlink_nav_controller_output_t packet; packet.nav_roll = nav_roll; packet.nav_pitch = nav_pitch; packet.alt_error = alt_error; packet.aspd_error = aspd_error; packet.xtrack_error = xtrack_error; packet.nav_bearing = nav_bearing; packet.target_bearing = target_bearing; packet.wp_dist = wp_dist; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN); #endif msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; 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); } /** * @brief Encode a nav_controller_output 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 nav_controller_output C-struct to read the message contents from */ static 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) { 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); } /** * @brief Encode a nav_controller_output 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 nav_controller_output C-struct to read the message contents from */ static 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) { 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); } /** * @brief Send a nav_controller_output message * @param chan MAVLink channel to send the message * * @param nav_roll Current desired roll in degrees * @param nav_pitch Current desired pitch in degrees * @param nav_bearing Current desired heading in degrees * @param target_bearing Bearing to current MISSION/target in degrees * @param wp_dist Distance to active MISSION in meters * @param alt_error Current altitude error in meters * @param aspd_error Current airspeed error in meters/second * @param xtrack_error Current crosstrack error on x-y plane in meters */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN]; _mav_put_float(buf, 0, nav_roll); _mav_put_float(buf, 4, nav_pitch); _mav_put_float(buf, 8, alt_error); _mav_put_float(buf, 12, aspd_error); _mav_put_float(buf, 16, xtrack_error); _mav_put_int16_t(buf, 20, nav_bearing); _mav_put_int16_t(buf, 22, target_bearing); _mav_put_uint16_t(buf, 24, wp_dist); _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); #else mavlink_nav_controller_output_t packet; packet.nav_roll = nav_roll; packet.nav_pitch = nav_pitch; packet.alt_error = alt_error; packet.aspd_error = aspd_error; packet.xtrack_error = xtrack_error; packet.nav_bearing = nav_bearing; packet.target_bearing = target_bearing; packet.wp_dist = wp_dist; _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); #endif } /** * @brief Send a nav_controller_output message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_nav_controller_output_send_struct(mavlink_channel_t chan, const mavlink_nav_controller_output_t* nav_controller_output) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 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); #else _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); #endif } #if MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_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_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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_float(buf, 0, nav_roll); _mav_put_float(buf, 4, nav_pitch); _mav_put_float(buf, 8, alt_error); _mav_put_float(buf, 12, aspd_error); _mav_put_float(buf, 16, xtrack_error); _mav_put_int16_t(buf, 20, nav_bearing); _mav_put_int16_t(buf, 22, target_bearing); _mav_put_uint16_t(buf, 24, wp_dist); _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); #else mavlink_nav_controller_output_t *packet = (mavlink_nav_controller_output_t *)msgbuf; packet->nav_roll = nav_roll; packet->nav_pitch = nav_pitch; packet->alt_error = alt_error; packet->aspd_error = aspd_error; packet->xtrack_error = xtrack_error; packet->nav_bearing = nav_bearing; packet->target_bearing = target_bearing; packet->wp_dist = wp_dist; _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); #endif } #endif #endif // MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING /** * @brief Get field nav_roll from nav_controller_output message * * @return Current desired roll in degrees */ static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 0); } /** * @brief Get field nav_pitch from nav_controller_output message * * @return Current desired pitch in degrees */ static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 4); } /** * @brief Get field nav_bearing from nav_controller_output message * * @return Current desired heading in degrees */ static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 20); } /** * @brief Get field target_bearing from nav_controller_output message * * @return Bearing to current MISSION/target in degrees */ static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 22); } /** * @brief Get field wp_dist from nav_controller_output message * * @return Distance to active MISSION in meters */ static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 24); } /** * @brief Get field alt_error from nav_controller_output message * * @return Current altitude error in meters */ static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field aspd_error from nav_controller_output message * * @return Current airspeed error in meters/second */ static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field xtrack_error from nav_controller_output message * * @return Current crosstrack error on x-y plane in meters */ static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Decode a nav_controller_output message into a struct * * @param msg The message to decode * @param nav_controller_output C-struct to decode the message contents into */ static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t* msg, mavlink_nav_controller_output_t* nav_controller_output) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS nav_controller_output->nav_roll = mavlink_msg_nav_controller_output_get_nav_roll(msg); nav_controller_output->nav_pitch = mavlink_msg_nav_controller_output_get_nav_pitch(msg); nav_controller_output->alt_error = mavlink_msg_nav_controller_output_get_alt_error(msg); nav_controller_output->aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(msg); nav_controller_output->xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(msg); nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg); nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg); nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN? msg->len : MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN; memset(nav_controller_output, 0, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN); memcpy(nav_controller_output, _MAV_PAYLOAD(msg), len); #endif }