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Diffstat (limited to 'ext/mavlink/include/mavlink/common/mavlink_msg_manual_setpoint.h')
| -rw-r--r-- | ext/mavlink/include/mavlink/common/mavlink_msg_manual_setpoint.h | 353 |
1 files changed, 353 insertions, 0 deletions
diff --git a/ext/mavlink/include/mavlink/common/mavlink_msg_manual_setpoint.h b/ext/mavlink/include/mavlink/common/mavlink_msg_manual_setpoint.h new file mode 100644 index 0000000..b276267 --- /dev/null +++ b/ext/mavlink/include/mavlink/common/mavlink_msg_manual_setpoint.h @@ -0,0 +1,353 @@ +// MESSAGE MANUAL_SETPOINT PACKING + +#define MAVLINK_MSG_ID_MANUAL_SETPOINT 81 + +typedef struct __mavlink_manual_setpoint_t +{ + uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot + float roll; ///< Desired roll rate in radians per second + float pitch; ///< Desired pitch rate in radians per second + float yaw; ///< Desired yaw rate in radians per second + float thrust; ///< Collective thrust, normalized to 0 .. 1 + uint8_t mode_switch; ///< Flight mode switch position, 0.. 255 + uint8_t manual_override_switch; ///< Override mode switch position, 0.. 255 +} mavlink_manual_setpoint_t; + +#define MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN 22 +#define MAVLINK_MSG_ID_81_LEN 22 + +#define MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC 106 +#define MAVLINK_MSG_ID_81_CRC 106 + + + +#define MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT { \ + "MANUAL_SETPOINT", \ + 7, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_manual_setpoint_t, time_boot_ms) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_manual_setpoint_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_manual_setpoint_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_manual_setpoint_t, yaw) }, \ + { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_manual_setpoint_t, thrust) }, \ + { "mode_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_setpoint_t, mode_switch) }, \ + { "manual_override_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_manual_setpoint_t, manual_override_switch) }, \ + } \ +} + + +/** + * @brief Pack a manual_setpoint 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 roll Desired roll rate in radians per second + * @param pitch Desired pitch rate in radians per second + * @param yaw Desired yaw rate in radians per second + * @param thrust Collective thrust, normalized to 0 .. 1 + * @param mode_switch Flight mode switch position, 0.. 255 + * @param manual_override_switch Override mode switch position, 0.. 255 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_manual_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, roll); + _mav_put_float(buf, 8, pitch); + _mav_put_float(buf, 12, yaw); + _mav_put_float(buf, 16, thrust); + _mav_put_uint8_t(buf, 20, mode_switch); + _mav_put_uint8_t(buf, 21, manual_override_switch); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); +#else + mavlink_manual_setpoint_t packet; + packet.time_boot_ms = time_boot_ms; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.mode_switch = mode_switch; + packet.manual_override_switch = manual_override_switch; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_MANUAL_SETPOINT; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); +#endif +} + +/** + * @brief Pack a manual_setpoint 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 roll Desired roll rate in radians per second + * @param pitch Desired pitch rate in radians per second + * @param yaw Desired yaw rate in radians per second + * @param thrust Collective thrust, normalized to 0 .. 1 + * @param mode_switch Flight mode switch position, 0.. 255 + * @param manual_override_switch Override mode switch position, 0.. 255 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_manual_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,float roll,float pitch,float yaw,float thrust,uint8_t mode_switch,uint8_t manual_override_switch) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, roll); + _mav_put_float(buf, 8, pitch); + _mav_put_float(buf, 12, yaw); + _mav_put_float(buf, 16, thrust); + _mav_put_uint8_t(buf, 20, mode_switch); + _mav_put_uint8_t(buf, 21, manual_override_switch); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); +#else + mavlink_manual_setpoint_t packet; + packet.time_boot_ms = time_boot_ms; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.mode_switch = mode_switch; + packet.manual_override_switch = manual_override_switch; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_MANUAL_SETPOINT; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); +#endif +} + +/** + * @brief Encode a manual_setpoint 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 manual_setpoint C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_manual_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_setpoint_t* manual_setpoint) +{ + return mavlink_msg_manual_setpoint_pack(system_id, component_id, msg, manual_setpoint->time_boot_ms, manual_setpoint->roll, manual_setpoint->pitch, manual_setpoint->yaw, manual_setpoint->thrust, manual_setpoint->mode_switch, manual_setpoint->manual_override_switch); +} + +/** + * @brief Encode a manual_setpoint 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 manual_setpoint C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_manual_setpoint_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_manual_setpoint_t* manual_setpoint) +{ + return mavlink_msg_manual_setpoint_pack_chan(system_id, component_id, chan, msg, manual_setpoint->time_boot_ms, manual_setpoint->roll, manual_setpoint->pitch, manual_setpoint->yaw, manual_setpoint->thrust, manual_setpoint->mode_switch, manual_setpoint->manual_override_switch); +} + +/** + * @brief Send a manual_setpoint message + * @param chan MAVLink channel to send the message + * + * @param time_boot_ms Timestamp in milliseconds since system boot + * @param roll Desired roll rate in radians per second + * @param pitch Desired pitch rate in radians per second + * @param yaw Desired yaw rate in radians per second + * @param thrust Collective thrust, normalized to 0 .. 1 + * @param mode_switch Flight mode switch position, 0.. 255 + * @param manual_override_switch Override mode switch position, 0.. 255 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_manual_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, roll); + _mav_put_float(buf, 8, pitch); + _mav_put_float(buf, 12, yaw); + _mav_put_float(buf, 16, thrust); + _mav_put_uint8_t(buf, 20, mode_switch); + _mav_put_uint8_t(buf, 21, manual_override_switch); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); +#endif +#else + mavlink_manual_setpoint_t packet; + packet.time_boot_ms = time_boot_ms; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.mode_switch = mode_switch; + packet.manual_override_switch = manual_override_switch; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_MANUAL_SETPOINT_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_manual_setpoint_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch) +{ +#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, 4, roll); + _mav_put_float(buf, 8, pitch); + _mav_put_float(buf, 12, yaw); + _mav_put_float(buf, 16, thrust); + _mav_put_uint8_t(buf, 20, mode_switch); + _mav_put_uint8_t(buf, 21, manual_override_switch); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); +#endif +#else + mavlink_manual_setpoint_t *packet = (mavlink_manual_setpoint_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + packet->thrust = thrust; + packet->mode_switch = mode_switch; + packet->manual_override_switch = manual_override_switch; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE MANUAL_SETPOINT UNPACKING + + +/** + * @brief Get field time_boot_ms from manual_setpoint message + * + * @return Timestamp in milliseconds since system boot + */ +static inline uint32_t mavlink_msg_manual_setpoint_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field roll from manual_setpoint message + * + * @return Desired roll rate in radians per second + */ +static inline float mavlink_msg_manual_setpoint_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field pitch from manual_setpoint message + * + * @return Desired pitch rate in radians per second + */ +static inline float mavlink_msg_manual_setpoint_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field yaw from manual_setpoint message + * + * @return Desired yaw rate in radians per second + */ +static inline float mavlink_msg_manual_setpoint_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field thrust from manual_setpoint message + * + * @return Collective thrust, normalized to 0 .. 1 + */ +static inline float mavlink_msg_manual_setpoint_get_thrust(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field mode_switch from manual_setpoint message + * + * @return Flight mode switch position, 0.. 255 + */ +static inline uint8_t mavlink_msg_manual_setpoint_get_mode_switch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 20); +} + +/** + * @brief Get field manual_override_switch from manual_setpoint message + * + * @return Override mode switch position, 0.. 255 + */ +static inline uint8_t mavlink_msg_manual_setpoint_get_manual_override_switch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 21); +} + +/** + * @brief Decode a manual_setpoint message into a struct + * + * @param msg The message to decode + * @param manual_setpoint C-struct to decode the message contents into + */ +static inline void mavlink_msg_manual_setpoint_decode(const mavlink_message_t* msg, mavlink_manual_setpoint_t* manual_setpoint) +{ +#if MAVLINK_NEED_BYTE_SWAP + manual_setpoint->time_boot_ms = mavlink_msg_manual_setpoint_get_time_boot_ms(msg); + manual_setpoint->roll = mavlink_msg_manual_setpoint_get_roll(msg); + manual_setpoint->pitch = mavlink_msg_manual_setpoint_get_pitch(msg); + manual_setpoint->yaw = mavlink_msg_manual_setpoint_get_yaw(msg); + manual_setpoint->thrust = mavlink_msg_manual_setpoint_get_thrust(msg); + manual_setpoint->mode_switch = mavlink_msg_manual_setpoint_get_mode_switch(msg); + manual_setpoint->manual_override_switch = mavlink_msg_manual_setpoint_get_manual_override_switch(msg); +#else + memcpy(manual_setpoint, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); +#endif +} |