diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h | 329 |
1 files changed, 0 insertions, 329 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h deleted file mode 100644 index e93b759d0..000000000 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h +++ /dev/null @@ -1,329 +0,0 @@ -// MESSAGE MANUAL_CONTROL PACKING - -#define MAVLINK_MSG_ID_MANUAL_CONTROL 69 - -typedef struct __mavlink_manual_control_t -{ - int16_t x; ///< X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. - int16_t y; ///< Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. - int16_t z; ///< Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. - int16_t r; ///< R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. - uint16_t buttons; ///< A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. - uint8_t target; ///< The system to be controlled. -} mavlink_manual_control_t; - -#define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 11 -#define MAVLINK_MSG_ID_69_LEN 11 - -#define MAVLINK_MSG_ID_MANUAL_CONTROL_CRC 243 -#define MAVLINK_MSG_ID_69_CRC 243 - - - -#define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \ - "MANUAL_CONTROL", \ - 6, \ - { { "x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_manual_control_t, x) }, \ - { "y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_manual_control_t, y) }, \ - { "z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_manual_control_t, z) }, \ - { "r", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_manual_control_t, r) }, \ - { "buttons", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_manual_control_t, buttons) }, \ - { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_manual_control_t, target) }, \ - } \ -} - - -/** - * @brief Pack a manual_control 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 target The system to be controlled. - * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. - * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. - * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. - * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. - * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN]; - _mav_put_int16_t(buf, 0, x); - _mav_put_int16_t(buf, 2, y); - _mav_put_int16_t(buf, 4, z); - _mav_put_int16_t(buf, 6, r); - _mav_put_uint16_t(buf, 8, buttons); - _mav_put_uint8_t(buf, 10, target); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); -#else - mavlink_manual_control_t packet; - packet.x = x; - packet.y = y; - packet.z = z; - packet.r = r; - packet.buttons = buttons; - packet.target = target; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); -#else - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); -#endif -} - -/** - * @brief Pack a manual_control 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 target The system to be controlled. - * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. - * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. - * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. - * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. - * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - uint8_t target,int16_t x,int16_t y,int16_t z,int16_t r,uint16_t buttons) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN]; - _mav_put_int16_t(buf, 0, x); - _mav_put_int16_t(buf, 2, y); - _mav_put_int16_t(buf, 4, z); - _mav_put_int16_t(buf, 6, r); - _mav_put_uint16_t(buf, 8, buttons); - _mav_put_uint8_t(buf, 10, target); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); -#else - mavlink_manual_control_t packet; - packet.x = x; - packet.y = y; - packet.z = z; - packet.r = r; - packet.buttons = buttons; - packet.target = target; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); -#else - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); -#endif -} - -/** - * @brief Encode a manual_control 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_control C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control) -{ - return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons); -} - -/** - * @brief Encode a manual_control 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_control C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_manual_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control) -{ - return mavlink_msg_manual_control_pack_chan(system_id, component_id, chan, msg, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons); -} - -/** - * @brief Send a manual_control message - * @param chan MAVLink channel to send the message - * - * @param target The system to be controlled. - * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. - * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. - * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. - * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. - * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN]; - _mav_put_int16_t(buf, 0, x); - _mav_put_int16_t(buf, 2, y); - _mav_put_int16_t(buf, 4, z); - _mav_put_int16_t(buf, 6, r); - _mav_put_uint16_t(buf, 8, buttons); - _mav_put_uint8_t(buf, 10, target); - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); -#endif -#else - mavlink_manual_control_t packet; - packet.x = x; - packet.y = y; - packet.z = z; - packet.r = r; - packet.buttons = buttons; - packet.target = target; - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); -#endif -#endif -} - -#if MAVLINK_MSG_ID_MANUAL_CONTROL_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_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char *buf = (char *)msgbuf; - _mav_put_int16_t(buf, 0, x); - _mav_put_int16_t(buf, 2, y); - _mav_put_int16_t(buf, 4, z); - _mav_put_int16_t(buf, 6, r); - _mav_put_uint16_t(buf, 8, buttons); - _mav_put_uint8_t(buf, 10, target); - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); -#endif -#else - mavlink_manual_control_t *packet = (mavlink_manual_control_t *)msgbuf; - packet->x = x; - packet->y = y; - packet->z = z; - packet->r = r; - packet->buttons = buttons; - packet->target = target; - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); -#endif -#endif -} -#endif - -#endif - -// MESSAGE MANUAL_CONTROL UNPACKING - - -/** - * @brief Get field target from manual_control message - * - * @return The system to be controlled. - */ -static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 10); -} - -/** - * @brief Get field x from manual_control message - * - * @return X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. - */ -static inline int16_t mavlink_msg_manual_control_get_x(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 0); -} - -/** - * @brief Get field y from manual_control message - * - * @return Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. - */ -static inline int16_t mavlink_msg_manual_control_get_y(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 2); -} - -/** - * @brief Get field z from manual_control message - * - * @return Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. - */ -static inline int16_t mavlink_msg_manual_control_get_z(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 4); -} - -/** - * @brief Get field r from manual_control message - * - * @return R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. - */ -static inline int16_t mavlink_msg_manual_control_get_r(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 6); -} - -/** - * @brief Get field buttons from manual_control message - * - * @return A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. - */ -static inline uint16_t mavlink_msg_manual_control_get_buttons(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 8); -} - -/** - * @brief Decode a manual_control message into a struct - * - * @param msg The message to decode - * @param manual_control C-struct to decode the message contents into - */ -static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* msg, mavlink_manual_control_t* manual_control) -{ -#if MAVLINK_NEED_BYTE_SWAP - manual_control->x = mavlink_msg_manual_control_get_x(msg); - manual_control->y = mavlink_msg_manual_control_get_y(msg); - manual_control->z = mavlink_msg_manual_control_get_z(msg); - manual_control->r = mavlink_msg_manual_control_get_r(msg); - manual_control->buttons = mavlink_msg_manual_control_get_buttons(msg); - manual_control->target = mavlink_msg_manual_control_get_target(msg); -#else - memcpy(manual_control, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); -#endif -} |