diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_controls.h')
-rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_controls.h | 397 |
1 files changed, 0 insertions, 397 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_controls.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_controls.h deleted file mode 100644 index aed5108d0..000000000 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_controls.h +++ /dev/null @@ -1,397 +0,0 @@ -// MESSAGE HIL_CONTROLS PACKING - -#define MAVLINK_MSG_ID_HIL_CONTROLS 91 - -typedef struct __mavlink_hil_controls_t -{ - uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) - float roll_ailerons; ///< Control output -1 .. 1 - float pitch_elevator; ///< Control output -1 .. 1 - float yaw_rudder; ///< Control output -1 .. 1 - float throttle; ///< Throttle 0 .. 1 - float aux1; ///< Aux 1, -1 .. 1 - float aux2; ///< Aux 2, -1 .. 1 - float aux3; ///< Aux 3, -1 .. 1 - float aux4; ///< Aux 4, -1 .. 1 - uint8_t mode; ///< System mode (MAV_MODE) - uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE) -} mavlink_hil_controls_t; - -#define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 42 -#define MAVLINK_MSG_ID_91_LEN 42 - -#define MAVLINK_MSG_ID_HIL_CONTROLS_CRC 63 -#define MAVLINK_MSG_ID_91_CRC 63 - - - -#define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \ - "HIL_CONTROLS", \ - 11, \ - { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_usec) }, \ - { "roll_ailerons", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \ - { "pitch_elevator", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \ - { "yaw_rudder", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \ - { "throttle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \ - { "aux1", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_controls_t, aux1) }, \ - { "aux2", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_controls_t, aux2) }, \ - { "aux3", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_controls_t, aux3) }, \ - { "aux4", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_controls_t, aux4) }, \ - { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_hil_controls_t, mode) }, \ - { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_hil_controls_t, nav_mode) }, \ - } \ -} - - -/** - * @brief Pack a hil_controls 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_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param roll_ailerons Control output -1 .. 1 - * @param pitch_elevator Control output -1 .. 1 - * @param yaw_rudder Control output -1 .. 1 - * @param throttle Throttle 0 .. 1 - * @param aux1 Aux 1, -1 .. 1 - * @param aux2 Aux 2, -1 .. 1 - * @param aux3 Aux 3, -1 .. 1 - * @param aux4 Aux 4, -1 .. 1 - * @param mode System mode (MAV_MODE) - * @param nav_mode Navigation mode (MAV_NAV_MODE) - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_HIL_CONTROLS_LEN]; - _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, roll_ailerons); - _mav_put_float(buf, 12, pitch_elevator); - _mav_put_float(buf, 16, yaw_rudder); - _mav_put_float(buf, 20, throttle); - _mav_put_float(buf, 24, aux1); - _mav_put_float(buf, 28, aux2); - _mav_put_float(buf, 32, aux3); - _mav_put_float(buf, 36, aux4); - _mav_put_uint8_t(buf, 40, mode); - _mav_put_uint8_t(buf, 41, nav_mode); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); -#else - mavlink_hil_controls_t packet; - packet.time_usec = time_usec; - packet.roll_ailerons = roll_ailerons; - packet.pitch_elevator = pitch_elevator; - packet.yaw_rudder = yaw_rudder; - packet.throttle = throttle; - packet.aux1 = aux1; - packet.aux2 = aux2; - packet.aux3 = aux3; - packet.aux4 = aux4; - packet.mode = mode; - packet.nav_mode = nav_mode; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC); -#else - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); -#endif -} - -/** - * @brief Pack a hil_controls 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_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param roll_ailerons Control output -1 .. 1 - * @param pitch_elevator Control output -1 .. 1 - * @param yaw_rudder Control output -1 .. 1 - * @param throttle Throttle 0 .. 1 - * @param aux1 Aux 1, -1 .. 1 - * @param aux2 Aux 2, -1 .. 1 - * @param aux3 Aux 3, -1 .. 1 - * @param aux4 Aux 4, -1 .. 1 - * @param mode System mode (MAV_MODE) - * @param nav_mode Navigation mode (MAV_NAV_MODE) - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - uint64_t time_usec,float roll_ailerons,float pitch_elevator,float yaw_rudder,float throttle,float aux1,float aux2,float aux3,float aux4,uint8_t mode,uint8_t nav_mode) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_HIL_CONTROLS_LEN]; - _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, roll_ailerons); - _mav_put_float(buf, 12, pitch_elevator); - _mav_put_float(buf, 16, yaw_rudder); - _mav_put_float(buf, 20, throttle); - _mav_put_float(buf, 24, aux1); - _mav_put_float(buf, 28, aux2); - _mav_put_float(buf, 32, aux3); - _mav_put_float(buf, 36, aux4); - _mav_put_uint8_t(buf, 40, mode); - _mav_put_uint8_t(buf, 41, nav_mode); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); -#else - mavlink_hil_controls_t packet; - packet.time_usec = time_usec; - packet.roll_ailerons = roll_ailerons; - packet.pitch_elevator = pitch_elevator; - packet.yaw_rudder = yaw_rudder; - packet.throttle = throttle; - packet.aux1 = aux1; - packet.aux2 = aux2; - packet.aux3 = aux3; - packet.aux4 = aux4; - packet.mode = mode; - packet.nav_mode = nav_mode; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC); -#else - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); -#endif -} - -/** - * @brief Encode a hil_controls 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 hil_controls C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls) -{ - return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode); -} - -/** - * @brief Encode a hil_controls 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 hil_controls C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_hil_controls_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls) -{ - return mavlink_msg_hil_controls_pack_chan(system_id, component_id, chan, msg, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode); -} - -/** - * @brief Send a hil_controls message - * @param chan MAVLink channel to send the message - * - * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param roll_ailerons Control output -1 .. 1 - * @param pitch_elevator Control output -1 .. 1 - * @param yaw_rudder Control output -1 .. 1 - * @param throttle Throttle 0 .. 1 - * @param aux1 Aux 1, -1 .. 1 - * @param aux2 Aux 2, -1 .. 1 - * @param aux3 Aux 3, -1 .. 1 - * @param aux4 Aux 4, -1 .. 1 - * @param mode System mode (MAV_MODE) - * @param nav_mode Navigation mode (MAV_NAV_MODE) - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_HIL_CONTROLS_LEN]; - _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, roll_ailerons); - _mav_put_float(buf, 12, pitch_elevator); - _mav_put_float(buf, 16, yaw_rudder); - _mav_put_float(buf, 20, throttle); - _mav_put_float(buf, 24, aux1); - _mav_put_float(buf, 28, aux2); - _mav_put_float(buf, 32, aux3); - _mav_put_float(buf, 36, aux4); - _mav_put_uint8_t(buf, 40, mode); - _mav_put_uint8_t(buf, 41, nav_mode); - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); -#endif -#else - mavlink_hil_controls_t packet; - packet.time_usec = time_usec; - packet.roll_ailerons = roll_ailerons; - packet.pitch_elevator = pitch_elevator; - packet.yaw_rudder = yaw_rudder; - packet.throttle = throttle; - packet.aux1 = aux1; - packet.aux2 = aux2; - packet.aux3 = aux3; - packet.aux4 = aux4; - packet.mode = mode; - packet.nav_mode = nav_mode; - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); -#endif -#endif -} - -#endif - -// MESSAGE HIL_CONTROLS UNPACKING - - -/** - * @brief Get field time_usec from hil_controls message - * - * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) - */ -static inline uint64_t mavlink_msg_hil_controls_get_time_usec(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint64_t(msg, 0); -} - -/** - * @brief Get field roll_ailerons from hil_controls message - * - * @return Control output -1 .. 1 - */ -static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 8); -} - -/** - * @brief Get field pitch_elevator from hil_controls message - * - * @return Control output -1 .. 1 - */ -static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 12); -} - -/** - * @brief Get field yaw_rudder from hil_controls message - * - * @return Control output -1 .. 1 - */ -static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 16); -} - -/** - * @brief Get field throttle from hil_controls message - * - * @return Throttle 0 .. 1 - */ -static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 20); -} - -/** - * @brief Get field aux1 from hil_controls message - * - * @return Aux 1, -1 .. 1 - */ -static inline float mavlink_msg_hil_controls_get_aux1(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 24); -} - -/** - * @brief Get field aux2 from hil_controls message - * - * @return Aux 2, -1 .. 1 - */ -static inline float mavlink_msg_hil_controls_get_aux2(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 28); -} - -/** - * @brief Get field aux3 from hil_controls message - * - * @return Aux 3, -1 .. 1 - */ -static inline float mavlink_msg_hil_controls_get_aux3(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 32); -} - -/** - * @brief Get field aux4 from hil_controls message - * - * @return Aux 4, -1 .. 1 - */ -static inline float mavlink_msg_hil_controls_get_aux4(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 36); -} - -/** - * @brief Get field mode from hil_controls message - * - * @return System mode (MAV_MODE) - */ -static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 40); -} - -/** - * @brief Get field nav_mode from hil_controls message - * - * @return Navigation mode (MAV_NAV_MODE) - */ -static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 41); -} - -/** - * @brief Decode a hil_controls message into a struct - * - * @param msg The message to decode - * @param hil_controls C-struct to decode the message contents into - */ -static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls) -{ -#if MAVLINK_NEED_BYTE_SWAP - hil_controls->time_usec = mavlink_msg_hil_controls_get_time_usec(msg); - hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg); - hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg); - hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg); - hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg); - hil_controls->aux1 = mavlink_msg_hil_controls_get_aux1(msg); - hil_controls->aux2 = mavlink_msg_hil_controls_get_aux2(msg); - hil_controls->aux3 = mavlink_msg_hil_controls_get_aux3(msg); - hil_controls->aux4 = mavlink_msg_hil_controls_get_aux4(msg); - hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg); - hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg); -#else - memcpy(hil_controls, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_CONTROLS_LEN); -#endif -} |