diff options
Diffstat (limited to 'ext/mavlink/include/mavlink/common/mavlink_msg_attitude_target.h')
| -rw-r--r-- | ext/mavlink/include/mavlink/common/mavlink_msg_attitude_target.h | 345 |
1 files changed, 345 insertions, 0 deletions
diff --git a/ext/mavlink/include/mavlink/common/mavlink_msg_attitude_target.h b/ext/mavlink/include/mavlink/common/mavlink_msg_attitude_target.h new file mode 100644 index 0000000..7c4b1c7 --- /dev/null +++ b/ext/mavlink/include/mavlink/common/mavlink_msg_attitude_target.h @@ -0,0 +1,345 @@ +// MESSAGE ATTITUDE_TARGET PACKING + +#define MAVLINK_MSG_ID_ATTITUDE_TARGET 83 + +typedef struct __mavlink_attitude_target_t +{ + uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot + float q[4]; ///< Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) + float body_roll_rate; ///< Body roll rate in radians per second + float body_pitch_rate; ///< Body roll rate in radians per second + float body_yaw_rate; ///< Body roll rate in radians per second + float thrust; ///< Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) + uint8_t type_mask; ///< Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude +} mavlink_attitude_target_t; + +#define MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN 37 +#define MAVLINK_MSG_ID_83_LEN 37 + +#define MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC 22 +#define MAVLINK_MSG_ID_83_CRC 22 + +#define MAVLINK_MSG_ATTITUDE_TARGET_FIELD_Q_LEN 4 + +#define MAVLINK_MESSAGE_INFO_ATTITUDE_TARGET { \ + "ATTITUDE_TARGET", \ + 7, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_target_t, time_boot_ms) }, \ + { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_attitude_target_t, q) }, \ + { "body_roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_target_t, body_roll_rate) }, \ + { "body_pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_target_t, body_pitch_rate) }, \ + { "body_yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_target_t, body_yaw_rate) }, \ + { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_attitude_target_t, thrust) }, \ + { "type_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_attitude_target_t, type_mask) }, \ + } \ +} + + +/** + * @brief Pack a attitude_target 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 type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude + * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) + * @param body_roll_rate Body roll rate in radians per second + * @param body_pitch_rate Body roll rate in radians per second + * @param body_yaw_rate Body roll rate in radians per second + * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_attitude_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 20, body_roll_rate); + _mav_put_float(buf, 24, body_pitch_rate); + _mav_put_float(buf, 28, body_yaw_rate); + _mav_put_float(buf, 32, thrust); + _mav_put_uint8_t(buf, 36, type_mask); + _mav_put_float_array(buf, 4, q, 4); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN); +#else + mavlink_attitude_target_t packet; + packet.time_boot_ms = time_boot_ms; + packet.body_roll_rate = body_roll_rate; + packet.body_pitch_rate = body_pitch_rate; + packet.body_yaw_rate = body_yaw_rate; + packet.thrust = thrust; + packet.type_mask = type_mask; + mav_array_memcpy(packet.q, q, sizeof(float)*4); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_ATTITUDE_TARGET; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN); +#endif +} + +/** + * @brief Pack a attitude_target 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 type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude + * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) + * @param body_roll_rate Body roll rate in radians per second + * @param body_pitch_rate Body roll rate in radians per second + * @param body_yaw_rate Body roll rate in radians per second + * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_attitude_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,uint8_t type_mask,const float *q,float body_roll_rate,float body_pitch_rate,float body_yaw_rate,float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 20, body_roll_rate); + _mav_put_float(buf, 24, body_pitch_rate); + _mav_put_float(buf, 28, body_yaw_rate); + _mav_put_float(buf, 32, thrust); + _mav_put_uint8_t(buf, 36, type_mask); + _mav_put_float_array(buf, 4, q, 4); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN); +#else + mavlink_attitude_target_t packet; + packet.time_boot_ms = time_boot_ms; + packet.body_roll_rate = body_roll_rate; + packet.body_pitch_rate = body_pitch_rate; + packet.body_yaw_rate = body_yaw_rate; + packet.thrust = thrust; + packet.type_mask = type_mask; + mav_array_memcpy(packet.q, q, sizeof(float)*4); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_ATTITUDE_TARGET; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN); +#endif +} + +/** + * @brief Encode a attitude_target 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 attitude_target C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_attitude_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_target_t* attitude_target) +{ + return mavlink_msg_attitude_target_pack(system_id, component_id, msg, attitude_target->time_boot_ms, attitude_target->type_mask, attitude_target->q, attitude_target->body_roll_rate, attitude_target->body_pitch_rate, attitude_target->body_yaw_rate, attitude_target->thrust); +} + +/** + * @brief Encode a attitude_target 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 attitude_target C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_attitude_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_target_t* attitude_target) +{ + return mavlink_msg_attitude_target_pack_chan(system_id, component_id, chan, msg, attitude_target->time_boot_ms, attitude_target->type_mask, attitude_target->q, attitude_target->body_roll_rate, attitude_target->body_pitch_rate, attitude_target->body_yaw_rate, attitude_target->thrust); +} + +/** + * @brief Send a attitude_target message + * @param chan MAVLink channel to send the message + * + * @param time_boot_ms Timestamp in milliseconds since system boot + * @param type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude + * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) + * @param body_roll_rate Body roll rate in radians per second + * @param body_pitch_rate Body roll rate in radians per second + * @param body_yaw_rate Body roll rate in radians per second + * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_attitude_target_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 20, body_roll_rate); + _mav_put_float(buf, 24, body_pitch_rate); + _mav_put_float(buf, 28, body_yaw_rate); + _mav_put_float(buf, 32, thrust); + _mav_put_uint8_t(buf, 36, type_mask); + _mav_put_float_array(buf, 4, q, 4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN); +#endif +#else + mavlink_attitude_target_t packet; + packet.time_boot_ms = time_boot_ms; + packet.body_roll_rate = body_roll_rate; + packet.body_pitch_rate = body_pitch_rate; + packet.body_yaw_rate = body_yaw_rate; + packet.thrust = thrust; + packet.type_mask = type_mask; + mav_array_memcpy(packet.q, q, sizeof(float)*4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_ATTITUDE_TARGET_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_attitude_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust) +{ +#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, 20, body_roll_rate); + _mav_put_float(buf, 24, body_pitch_rate); + _mav_put_float(buf, 28, body_yaw_rate); + _mav_put_float(buf, 32, thrust); + _mav_put_uint8_t(buf, 36, type_mask); + _mav_put_float_array(buf, 4, q, 4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN); +#endif +#else + mavlink_attitude_target_t *packet = (mavlink_attitude_target_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->body_roll_rate = body_roll_rate; + packet->body_pitch_rate = body_pitch_rate; + packet->body_yaw_rate = body_yaw_rate; + packet->thrust = thrust; + packet->type_mask = type_mask; + mav_array_memcpy(packet->q, q, sizeof(float)*4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE ATTITUDE_TARGET UNPACKING + + +/** + * @brief Get field time_boot_ms from attitude_target message + * + * @return Timestamp in milliseconds since system boot + */ +static inline uint32_t mavlink_msg_attitude_target_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field type_mask from attitude_target message + * + * @return Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude + */ +static inline uint8_t mavlink_msg_attitude_target_get_type_mask(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 36); +} + +/** + * @brief Get field q from attitude_target message + * + * @return Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) + */ +static inline uint16_t mavlink_msg_attitude_target_get_q(const mavlink_message_t* msg, float *q) +{ + return _MAV_RETURN_float_array(msg, q, 4, 4); +} + +/** + * @brief Get field body_roll_rate from attitude_target message + * + * @return Body roll rate in radians per second + */ +static inline float mavlink_msg_attitude_target_get_body_roll_rate(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field body_pitch_rate from attitude_target message + * + * @return Body roll rate in radians per second + */ +static inline float mavlink_msg_attitude_target_get_body_pitch_rate(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field body_yaw_rate from attitude_target message + * + * @return Body roll rate in radians per second + */ +static inline float mavlink_msg_attitude_target_get_body_yaw_rate(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field thrust from attitude_target message + * + * @return Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) + */ +static inline float mavlink_msg_attitude_target_get_thrust(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 32); +} + +/** + * @brief Decode a attitude_target message into a struct + * + * @param msg The message to decode + * @param attitude_target C-struct to decode the message contents into + */ +static inline void mavlink_msg_attitude_target_decode(const mavlink_message_t* msg, mavlink_attitude_target_t* attitude_target) +{ +#if MAVLINK_NEED_BYTE_SWAP + attitude_target->time_boot_ms = mavlink_msg_attitude_target_get_time_boot_ms(msg); + mavlink_msg_attitude_target_get_q(msg, attitude_target->q); + attitude_target->body_roll_rate = mavlink_msg_attitude_target_get_body_roll_rate(msg); + attitude_target->body_pitch_rate = mavlink_msg_attitude_target_get_body_pitch_rate(msg); + attitude_target->body_yaw_rate = mavlink_msg_attitude_target_get_body_yaw_rate(msg); + attitude_target->thrust = mavlink_msg_attitude_target_get_thrust(msg); + attitude_target->type_mask = mavlink_msg_attitude_target_get_type_mask(msg); +#else + memcpy(attitude_target, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN); +#endif +} |