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 | 290 |
1 files changed, 112 insertions, 178 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 index 93adce265..96b3d3040 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h @@ -4,34 +4,28 @@ typedef struct __mavlink_manual_control_t { - float roll; ///< roll - float pitch; ///< pitch - float yaw; ///< yaw - float thrust; ///< thrust - uint8_t target; ///< The system to be controlled - uint8_t roll_manual; ///< roll control enabled auto:0, manual:1 - uint8_t pitch_manual; ///< pitch auto:0, manual:1 - uint8_t yaw_manual; ///< yaw auto:0, manual:1 - uint8_t thrust_manual; ///< thrust auto:0, manual:1 + 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 21 -#define MAVLINK_MSG_ID_69_LEN 21 +#define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 11 +#define MAVLINK_MSG_ID_69_LEN 11 #define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \ "MANUAL_CONTROL", \ - 9, \ - { { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_manual_control_t, roll) }, \ - { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_manual_control_t, pitch) }, \ - { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_manual_control_t, yaw) }, \ - { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_manual_control_t, thrust) }, \ - { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_manual_control_t, target) }, \ - { "roll_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_manual_control_t, roll_manual) }, \ - { "pitch_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_manual_control_t, pitch_manual) }, \ - { "yaw_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_manual_control_t, yaw_manual) }, \ - { "thrust_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_control_t, thrust_manual) }, \ + 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) }, \ } \ } @@ -42,50 +36,41 @@ typedef struct __mavlink_manual_control_t * @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 roll roll - * @param pitch pitch - * @param yaw yaw - * @param thrust thrust - * @param roll_manual roll control enabled auto:0, manual:1 - * @param pitch_manual pitch auto:0, manual:1 - * @param yaw_manual yaw auto:0, manual:1 - * @param thrust_manual thrust auto:0, manual:1 + * @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, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) + 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[21]; - _mav_put_float(buf, 0, roll); - _mav_put_float(buf, 4, pitch); - _mav_put_float(buf, 8, yaw); - _mav_put_float(buf, 12, thrust); - _mav_put_uint8_t(buf, 16, target); - _mav_put_uint8_t(buf, 17, roll_manual); - _mav_put_uint8_t(buf, 18, pitch_manual); - _mav_put_uint8_t(buf, 19, yaw_manual); - _mav_put_uint8_t(buf, 20, thrust_manual); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21); + char buf[11]; + _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, 11); #else mavlink_manual_control_t packet; - packet.roll = roll; - packet.pitch = pitch; - packet.yaw = yaw; - packet.thrust = thrust; + packet.x = x; + packet.y = y; + packet.z = z; + packet.r = r; + packet.buttons = buttons; packet.target = target; - packet.roll_manual = roll_manual; - packet.pitch_manual = pitch_manual; - packet.yaw_manual = yaw_manual; - packet.thrust_manual = thrust_manual; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 11); #endif msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; - return mavlink_finalize_message(msg, system_id, component_id, 21, 52); + return mavlink_finalize_message(msg, system_id, component_id, 11, 243); } /** @@ -94,51 +79,42 @@ static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_ * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message was sent over * @param msg The MAVLink message to compress the data into - * @param target The system to be controlled - * @param roll roll - * @param pitch pitch - * @param yaw yaw - * @param thrust thrust - * @param roll_manual roll control enabled auto:0, manual:1 - * @param pitch_manual pitch auto:0, manual:1 - * @param yaw_manual yaw auto:0, manual:1 - * @param thrust_manual thrust auto:0, manual:1 + * @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,float roll,float pitch,float yaw,float thrust,uint8_t roll_manual,uint8_t pitch_manual,uint8_t yaw_manual,uint8_t thrust_manual) + 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[21]; - _mav_put_float(buf, 0, roll); - _mav_put_float(buf, 4, pitch); - _mav_put_float(buf, 8, yaw); - _mav_put_float(buf, 12, thrust); - _mav_put_uint8_t(buf, 16, target); - _mav_put_uint8_t(buf, 17, roll_manual); - _mav_put_uint8_t(buf, 18, pitch_manual); - _mav_put_uint8_t(buf, 19, yaw_manual); - _mav_put_uint8_t(buf, 20, thrust_manual); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21); + char buf[11]; + _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, 11); #else mavlink_manual_control_t packet; - packet.roll = roll; - packet.pitch = pitch; - packet.yaw = yaw; - packet.thrust = thrust; + packet.x = x; + packet.y = y; + packet.z = z; + packet.r = r; + packet.buttons = buttons; packet.target = target; - packet.roll_manual = roll_manual; - packet.pitch_manual = pitch_manual; - packet.yaw_manual = yaw_manual; - packet.thrust_manual = thrust_manual; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 11); #endif msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 52); + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 11, 243); } /** @@ -151,53 +127,44 @@ static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, u */ 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->roll, manual_control->pitch, manual_control->yaw, manual_control->thrust, manual_control->roll_manual, manual_control->pitch_manual, manual_control->yaw_manual, manual_control->thrust_manual); + 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 Send a manual_control message * @param chan MAVLink channel to send the message * - * @param target The system to be controlled - * @param roll roll - * @param pitch pitch - * @param yaw yaw - * @param thrust thrust - * @param roll_manual roll control enabled auto:0, manual:1 - * @param pitch_manual pitch auto:0, manual:1 - * @param yaw_manual yaw auto:0, manual:1 - * @param thrust_manual thrust auto:0, manual:1 + * @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, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) +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[21]; - _mav_put_float(buf, 0, roll); - _mav_put_float(buf, 4, pitch); - _mav_put_float(buf, 8, yaw); - _mav_put_float(buf, 12, thrust); - _mav_put_uint8_t(buf, 16, target); - _mav_put_uint8_t(buf, 17, roll_manual); - _mav_put_uint8_t(buf, 18, pitch_manual); - _mav_put_uint8_t(buf, 19, yaw_manual); - _mav_put_uint8_t(buf, 20, thrust_manual); - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, 21, 52); + char buf[11]; + _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); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, 11, 243); #else mavlink_manual_control_t packet; - packet.roll = roll; - packet.pitch = pitch; - packet.yaw = yaw; - packet.thrust = thrust; + packet.x = x; + packet.y = y; + packet.z = z; + packet.r = r; + packet.buttons = buttons; packet.target = target; - packet.roll_manual = roll_manual; - packet.pitch_manual = pitch_manual; - packet.yaw_manual = yaw_manual; - packet.thrust_manual = thrust_manual; - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, 21, 52); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, 11, 243); #endif } @@ -209,91 +176,61 @@ static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8 /** * @brief Get field target from manual_control message * - * @return The system to be controlled + * @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, 16); -} - -/** - * @brief Get field roll from manual_control message - * - * @return roll - */ -static inline float mavlink_msg_manual_control_get_roll(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 0); -} - -/** - * @brief Get field pitch from manual_control message - * - * @return pitch - */ -static inline float mavlink_msg_manual_control_get_pitch(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 4); -} - -/** - * @brief Get field yaw from manual_control message - * - * @return yaw - */ -static inline float mavlink_msg_manual_control_get_yaw(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 8); + return _MAV_RETURN_uint8_t(msg, 10); } /** - * @brief Get field thrust from manual_control message + * @brief Get field x from manual_control message * - * @return thrust + * @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 float mavlink_msg_manual_control_get_thrust(const mavlink_message_t* msg) +static inline int16_t mavlink_msg_manual_control_get_x(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 12); + return _MAV_RETURN_int16_t(msg, 0); } /** - * @brief Get field roll_manual from manual_control message + * @brief Get field y from manual_control message * - * @return roll control enabled auto:0, manual:1 + * @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 uint8_t mavlink_msg_manual_control_get_roll_manual(const mavlink_message_t* msg) +static inline int16_t mavlink_msg_manual_control_get_y(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 17); + return _MAV_RETURN_int16_t(msg, 2); } /** - * @brief Get field pitch_manual from manual_control message + * @brief Get field z from manual_control message * - * @return pitch auto:0, manual:1 + * @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 uint8_t mavlink_msg_manual_control_get_pitch_manual(const mavlink_message_t* msg) +static inline int16_t mavlink_msg_manual_control_get_z(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 18); + return _MAV_RETURN_int16_t(msg, 4); } /** - * @brief Get field yaw_manual from manual_control message + * @brief Get field r from manual_control message * - * @return yaw auto:0, manual:1 + * @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 uint8_t mavlink_msg_manual_control_get_yaw_manual(const mavlink_message_t* msg) +static inline int16_t mavlink_msg_manual_control_get_r(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 19); + return _MAV_RETURN_int16_t(msg, 6); } /** - * @brief Get field thrust_manual from manual_control message + * @brief Get field buttons from manual_control message * - * @return thrust auto:0, manual:1 + * @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 uint8_t mavlink_msg_manual_control_get_thrust_manual(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_manual_control_get_buttons(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 20); + return _MAV_RETURN_uint16_t(msg, 8); } /** @@ -305,16 +242,13 @@ static inline uint8_t mavlink_msg_manual_control_get_thrust_manual(const mavlink 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->roll = mavlink_msg_manual_control_get_roll(msg); - manual_control->pitch = mavlink_msg_manual_control_get_pitch(msg); - manual_control->yaw = mavlink_msg_manual_control_get_yaw(msg); - manual_control->thrust = mavlink_msg_manual_control_get_thrust(msg); + 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); - manual_control->roll_manual = mavlink_msg_manual_control_get_roll_manual(msg); - manual_control->pitch_manual = mavlink_msg_manual_control_get_pitch_manual(msg); - manual_control->yaw_manual = mavlink_msg_manual_control_get_yaw_manual(msg); - manual_control->thrust_manual = mavlink_msg_manual_control_get_thrust_manual(msg); #else - memcpy(manual_control, _MAV_PAYLOAD(msg), 21); + memcpy(manual_control, _MAV_PAYLOAD(msg), 11); #endif } |