diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h | 331 |
1 files changed, 0 insertions, 331 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h deleted file mode 100644 index e95c144de..000000000 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h +++ /dev/null @@ -1,331 +0,0 @@ -// MESSAGE NAV_CONTROLLER_OUTPUT PACKING - -#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62 - -typedef struct __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_62_LEN 26 - -#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC 183 -#define MAVLINK_MSG_ID_62_CRC 183 - - - -#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) }, \ - } \ -} - - -/** - * @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; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC); -#else - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN); -#endif -} - -/** - * @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; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC); -#else - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN); -#endif -} - -/** - * @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); - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN); -#endif -#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; - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)&packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)&packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN); -#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 - 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 - memcpy(nav_controller_output, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN); -#endif -} |