diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_setpoint.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_setpoint.h | 309 |
1 files changed, 0 insertions, 309 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_setpoint.h deleted file mode 100644 index a694947c1..000000000 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_setpoint.h +++ /dev/null @@ -1,309 +0,0 @@ -// 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 -} - -#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 -} |