diff options
Diffstat (limited to 'ext/mavlink/include/mavlink/common/mavlink_msg_vfr_hud.h')
| -rw-r--r-- | ext/mavlink/include/mavlink/common/mavlink_msg_vfr_hud.h | 329 |
1 files changed, 329 insertions, 0 deletions
diff --git a/ext/mavlink/include/mavlink/common/mavlink_msg_vfr_hud.h b/ext/mavlink/include/mavlink/common/mavlink_msg_vfr_hud.h new file mode 100644 index 0000000..b130ee5 --- /dev/null +++ b/ext/mavlink/include/mavlink/common/mavlink_msg_vfr_hud.h @@ -0,0 +1,329 @@ +// MESSAGE VFR_HUD PACKING + +#define MAVLINK_MSG_ID_VFR_HUD 74 + +typedef struct __mavlink_vfr_hud_t +{ + float airspeed; ///< Current airspeed in m/s + float groundspeed; ///< Current ground speed in m/s + float alt; ///< Current altitude (MSL), in meters + float climb; ///< Current climb rate in meters/second + int16_t heading; ///< Current heading in degrees, in compass units (0..360, 0=north) + uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100 +} mavlink_vfr_hud_t; + +#define MAVLINK_MSG_ID_VFR_HUD_LEN 20 +#define MAVLINK_MSG_ID_74_LEN 20 + +#define MAVLINK_MSG_ID_VFR_HUD_CRC 20 +#define MAVLINK_MSG_ID_74_CRC 20 + + + +#define MAVLINK_MESSAGE_INFO_VFR_HUD { \ + "VFR_HUD", \ + 6, \ + { { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_vfr_hud_t, airspeed) }, \ + { "groundspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_vfr_hud_t, groundspeed) }, \ + { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vfr_hud_t, alt) }, \ + { "climb", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vfr_hud_t, climb) }, \ + { "heading", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_vfr_hud_t, heading) }, \ + { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_vfr_hud_t, throttle) }, \ + } \ +} + + +/** + * @brief Pack a vfr_hud 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 airspeed Current airspeed in m/s + * @param groundspeed Current ground speed in m/s + * @param heading Current heading in degrees, in compass units (0..360, 0=north) + * @param throttle Current throttle setting in integer percent, 0 to 100 + * @param alt Current altitude (MSL), in meters + * @param climb Current climb rate in meters/second + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_VFR_HUD_LEN]; + _mav_put_float(buf, 0, airspeed); + _mav_put_float(buf, 4, groundspeed); + _mav_put_float(buf, 8, alt); + _mav_put_float(buf, 12, climb); + _mav_put_int16_t(buf, 16, heading); + _mav_put_uint16_t(buf, 18, throttle); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VFR_HUD_LEN); +#else + mavlink_vfr_hud_t packet; + packet.airspeed = airspeed; + packet.groundspeed = groundspeed; + packet.alt = alt; + packet.climb = climb; + packet.heading = heading; + packet.throttle = throttle; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VFR_HUD_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_VFR_HUD; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VFR_HUD_LEN); +#endif +} + +/** + * @brief Pack a vfr_hud 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 airspeed Current airspeed in m/s + * @param groundspeed Current ground speed in m/s + * @param heading Current heading in degrees, in compass units (0..360, 0=north) + * @param throttle Current throttle setting in integer percent, 0 to 100 + * @param alt Current altitude (MSL), in meters + * @param climb Current climb rate in meters/second + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float airspeed,float groundspeed,int16_t heading,uint16_t throttle,float alt,float climb) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_VFR_HUD_LEN]; + _mav_put_float(buf, 0, airspeed); + _mav_put_float(buf, 4, groundspeed); + _mav_put_float(buf, 8, alt); + _mav_put_float(buf, 12, climb); + _mav_put_int16_t(buf, 16, heading); + _mav_put_uint16_t(buf, 18, throttle); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VFR_HUD_LEN); +#else + mavlink_vfr_hud_t packet; + packet.airspeed = airspeed; + packet.groundspeed = groundspeed; + packet.alt = alt; + packet.climb = climb; + packet.heading = heading; + packet.throttle = throttle; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VFR_HUD_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_VFR_HUD; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VFR_HUD_LEN); +#endif +} + +/** + * @brief Encode a vfr_hud 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 vfr_hud C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_vfr_hud_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud) +{ + return mavlink_msg_vfr_hud_pack(system_id, component_id, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb); +} + +/** + * @brief Encode a vfr_hud 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 vfr_hud C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_vfr_hud_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud) +{ + return mavlink_msg_vfr_hud_pack_chan(system_id, component_id, chan, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb); +} + +/** + * @brief Send a vfr_hud message + * @param chan MAVLink channel to send the message + * + * @param airspeed Current airspeed in m/s + * @param groundspeed Current ground speed in m/s + * @param heading Current heading in degrees, in compass units (0..360, 0=north) + * @param throttle Current throttle setting in integer percent, 0 to 100 + * @param alt Current altitude (MSL), in meters + * @param climb Current climb rate in meters/second + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_VFR_HUD_LEN]; + _mav_put_float(buf, 0, airspeed); + _mav_put_float(buf, 4, groundspeed); + _mav_put_float(buf, 8, alt); + _mav_put_float(buf, 12, climb); + _mav_put_int16_t(buf, 16, heading); + _mav_put_uint16_t(buf, 18, throttle); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, MAVLINK_MSG_ID_VFR_HUD_LEN); +#endif +#else + mavlink_vfr_hud_t packet; + packet.airspeed = airspeed; + packet.groundspeed = groundspeed; + packet.alt = alt; + packet.climb = climb; + packet.heading = heading; + packet.throttle = throttle; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)&packet, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)&packet, MAVLINK_MSG_ID_VFR_HUD_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_VFR_HUD_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_vfr_hud_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, airspeed); + _mav_put_float(buf, 4, groundspeed); + _mav_put_float(buf, 8, alt); + _mav_put_float(buf, 12, climb); + _mav_put_int16_t(buf, 16, heading); + _mav_put_uint16_t(buf, 18, throttle); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, MAVLINK_MSG_ID_VFR_HUD_LEN); +#endif +#else + mavlink_vfr_hud_t *packet = (mavlink_vfr_hud_t *)msgbuf; + packet->airspeed = airspeed; + packet->groundspeed = groundspeed; + packet->alt = alt; + packet->climb = climb; + packet->heading = heading; + packet->throttle = throttle; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)packet, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)packet, MAVLINK_MSG_ID_VFR_HUD_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE VFR_HUD UNPACKING + + +/** + * @brief Get field airspeed from vfr_hud message + * + * @return Current airspeed in m/s + */ +static inline float mavlink_msg_vfr_hud_get_airspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field groundspeed from vfr_hud message + * + * @return Current ground speed in m/s + */ +static inline float mavlink_msg_vfr_hud_get_groundspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field heading from vfr_hud message + * + * @return Current heading in degrees, in compass units (0..360, 0=north) + */ +static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 16); +} + +/** + * @brief Get field throttle from vfr_hud message + * + * @return Current throttle setting in integer percent, 0 to 100 + */ +static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 18); +} + +/** + * @brief Get field alt from vfr_hud message + * + * @return Current altitude (MSL), in meters + */ +static inline float mavlink_msg_vfr_hud_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field climb from vfr_hud message + * + * @return Current climb rate in meters/second + */ +static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Decode a vfr_hud message into a struct + * + * @param msg The message to decode + * @param vfr_hud C-struct to decode the message contents into + */ +static inline void mavlink_msg_vfr_hud_decode(const mavlink_message_t* msg, mavlink_vfr_hud_t* vfr_hud) +{ +#if MAVLINK_NEED_BYTE_SWAP + vfr_hud->airspeed = mavlink_msg_vfr_hud_get_airspeed(msg); + vfr_hud->groundspeed = mavlink_msg_vfr_hud_get_groundspeed(msg); + vfr_hud->alt = mavlink_msg_vfr_hud_get_alt(msg); + vfr_hud->climb = mavlink_msg_vfr_hud_get_climb(msg); + vfr_hud->heading = mavlink_msg_vfr_hud_get_heading(msg); + vfr_hud->throttle = mavlink_msg_vfr_hud_get_throttle(msg); +#else + memcpy(vfr_hud, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_VFR_HUD_LEN); +#endif +} |