diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rangefinder.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rangefinder.h | 199 |
1 files changed, 0 insertions, 199 deletions
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rangefinder.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rangefinder.h deleted file mode 100644 index c476447a8..000000000 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rangefinder.h +++ /dev/null @@ -1,199 +0,0 @@ -// MESSAGE RANGEFINDER PACKING - -#define MAVLINK_MSG_ID_RANGEFINDER 173 - -typedef struct __mavlink_rangefinder_t -{ - float distance; ///< distance in meters - float voltage; ///< raw voltage if available, zero otherwise -} mavlink_rangefinder_t; - -#define MAVLINK_MSG_ID_RANGEFINDER_LEN 8 -#define MAVLINK_MSG_ID_173_LEN 8 - -#define MAVLINK_MSG_ID_RANGEFINDER_CRC 83 -#define MAVLINK_MSG_ID_173_CRC 83 - - - -#define MAVLINK_MESSAGE_INFO_RANGEFINDER { \ - "RANGEFINDER", \ - 2, \ - { { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_rangefinder_t, distance) }, \ - { "voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_rangefinder_t, voltage) }, \ - } \ -} - - -/** - * @brief Pack a rangefinder 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 distance distance in meters - * @param voltage raw voltage if available, zero otherwise - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_rangefinder_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - float distance, float voltage) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN]; - _mav_put_float(buf, 0, distance); - _mav_put_float(buf, 4, voltage); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RANGEFINDER_LEN); -#else - mavlink_rangefinder_t packet; - packet.distance = distance; - packet.voltage = voltage; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RANGEFINDER_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_RANGEFINDER; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC); -#else - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RANGEFINDER_LEN); -#endif -} - -/** - * @brief Pack a rangefinder 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 distance distance in meters - * @param voltage raw voltage if available, zero otherwise - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_rangefinder_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - float distance,float voltage) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN]; - _mav_put_float(buf, 0, distance); - _mav_put_float(buf, 4, voltage); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RANGEFINDER_LEN); -#else - mavlink_rangefinder_t packet; - packet.distance = distance; - packet.voltage = voltage; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RANGEFINDER_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_RANGEFINDER; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC); -#else - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RANGEFINDER_LEN); -#endif -} - -/** - * @brief Encode a rangefinder 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 rangefinder C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_rangefinder_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rangefinder_t* rangefinder) -{ - return mavlink_msg_rangefinder_pack(system_id, component_id, msg, rangefinder->distance, rangefinder->voltage); -} - -/** - * @brief Encode a rangefinder 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 rangefinder C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_rangefinder_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rangefinder_t* rangefinder) -{ - return mavlink_msg_rangefinder_pack_chan(system_id, component_id, chan, msg, rangefinder->distance, rangefinder->voltage); -} - -/** - * @brief Send a rangefinder message - * @param chan MAVLink channel to send the message - * - * @param distance distance in meters - * @param voltage raw voltage if available, zero otherwise - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_rangefinder_send(mavlink_channel_t chan, float distance, float voltage) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN]; - _mav_put_float(buf, 0, distance); - _mav_put_float(buf, 4, voltage); - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_LEN); -#endif -#else - mavlink_rangefinder_t packet; - packet.distance = distance; - packet.voltage = voltage; - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)&packet, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)&packet, MAVLINK_MSG_ID_RANGEFINDER_LEN); -#endif -#endif -} - -#endif - -// MESSAGE RANGEFINDER UNPACKING - - -/** - * @brief Get field distance from rangefinder message - * - * @return distance in meters - */ -static inline float mavlink_msg_rangefinder_get_distance(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 0); -} - -/** - * @brief Get field voltage from rangefinder message - * - * @return raw voltage if available, zero otherwise - */ -static inline float mavlink_msg_rangefinder_get_voltage(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 4); -} - -/** - * @brief Decode a rangefinder message into a struct - * - * @param msg The message to decode - * @param rangefinder C-struct to decode the message contents into - */ -static inline void mavlink_msg_rangefinder_decode(const mavlink_message_t* msg, mavlink_rangefinder_t* rangefinder) -{ -#if MAVLINK_NEED_BYTE_SWAP - rangefinder->distance = mavlink_msg_rangefinder_get_distance(msg); - rangefinder->voltage = mavlink_msg_rangefinder_get_voltage(msg); -#else - memcpy(rangefinder, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RANGEFINDER_LEN); -#endif -} |