diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h | 62 |
1 files changed, 62 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h index bcc857767..923ed60b9 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h @@ -311,6 +311,68 @@ static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t t #endif } +#if MAVLINK_MSG_ID_HIL_STATE_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_hil_state_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, roll); + _mav_put_float(buf, 12, pitch); + _mav_put_float(buf, 16, yaw); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + _mav_put_int32_t(buf, 32, lat); + _mav_put_int32_t(buf, 36, lon); + _mav_put_int32_t(buf, 40, alt); + _mav_put_int16_t(buf, 44, vx); + _mav_put_int16_t(buf, 46, vy); + _mav_put_int16_t(buf, 48, vz); + _mav_put_int16_t(buf, 50, xacc); + _mav_put_int16_t(buf, 52, yacc); + _mav_put_int16_t(buf, 54, zacc); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_LEN); +#endif +#else + mavlink_hil_state_t *packet = (mavlink_hil_state_t *)msgbuf; + packet->time_usec = time_usec; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + packet->rollspeed = rollspeed; + packet->pitchspeed = pitchspeed; + packet->yawspeed = yawspeed; + packet->lat = lat; + packet->lon = lon; + packet->alt = alt; + packet->vx = vx; + packet->vy = vy; + packet->vz = vz; + packet->xacc = xacc; + packet->yacc = yacc; + packet->zacc = zacc; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE HIL_STATE UNPACKING |