diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h')
-rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h | 276 |
1 files changed, 276 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h new file mode 100644 index 000000000..233e07d65 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h @@ -0,0 +1,276 @@ +// MESSAGE SET_LOCAL_POSITION_SETPOINT PACKING + +#define MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT 50 + +typedef struct __mavlink_set_local_position_setpoint_t +{ + float x; ///< x position + float y; ///< y position + float z; ///< z position + float yaw; ///< Desired yaw angle + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU +} mavlink_set_local_position_setpoint_t; + +#define MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN 19 +#define MAVLINK_MSG_ID_50_LEN 19 + + + +#define MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT { \ + "SET_LOCAL_POSITION_SETPOINT", \ + 7, \ + { { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_local_position_setpoint_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_local_position_setpoint_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_local_position_setpoint_t, z) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_local_position_setpoint_t, yaw) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_set_local_position_setpoint_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_set_local_position_setpoint_t, target_component) }, \ + { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_set_local_position_setpoint_t, coordinate_frame) }, \ + } \ +} + + +/** + * @brief Pack a set_local_position_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 target_system System ID + * @param target_component Component ID + * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU + * @param x x position + * @param y y position + * @param z z position + * @param yaw Desired yaw angle + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_local_position_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[19]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, yaw); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + _mav_put_uint8_t(buf, 18, coordinate_frame); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 19); +#else + mavlink_set_local_position_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.target_system = target_system; + packet.target_component = target_component; + packet.coordinate_frame = coordinate_frame; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 19); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT; + return mavlink_finalize_message(msg, system_id, component_id, 19, 214); +} + +/** + * @brief Pack a set_local_position_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 was sent over + * @param msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU + * @param x x position + * @param y y position + * @param z z position + * @param yaw Desired yaw angle + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_local_position_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint8_t coordinate_frame,float x,float y,float z,float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[19]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, yaw); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + _mav_put_uint8_t(buf, 18, coordinate_frame); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 19); +#else + mavlink_set_local_position_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.target_system = target_system; + packet.target_component = target_component; + packet.coordinate_frame = coordinate_frame; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 19); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 19, 214); +} + +/** + * @brief Encode a set_local_position_setpoint struct into a 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 set_local_position_setpoint C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_set_local_position_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_local_position_setpoint_t* set_local_position_setpoint) +{ + return mavlink_msg_set_local_position_setpoint_pack(system_id, component_id, msg, set_local_position_setpoint->target_system, set_local_position_setpoint->target_component, set_local_position_setpoint->coordinate_frame, set_local_position_setpoint->x, set_local_position_setpoint->y, set_local_position_setpoint->z, set_local_position_setpoint->yaw); +} + +/** + * @brief Send a set_local_position_setpoint message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU + * @param x x position + * @param y y position + * @param z z position + * @param yaw Desired yaw angle + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_set_local_position_setpoint_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[19]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, yaw); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + _mav_put_uint8_t(buf, 18, coordinate_frame); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, buf, 19, 214); +#else + mavlink_set_local_position_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.target_system = target_system; + packet.target_component = target_component; + packet.coordinate_frame = coordinate_frame; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, (const char *)&packet, 19, 214); +#endif +} + +#endif + +// MESSAGE SET_LOCAL_POSITION_SETPOINT UNPACKING + + +/** + * @brief Get field target_system from set_local_position_setpoint message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_set_local_position_setpoint_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 16); +} + +/** + * @brief Get field target_component from set_local_position_setpoint message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_set_local_position_setpoint_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 17); +} + +/** + * @brief Get field coordinate_frame from set_local_position_setpoint message + * + * @return Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU + */ +static inline uint8_t mavlink_msg_set_local_position_setpoint_get_coordinate_frame(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 18); +} + +/** + * @brief Get field x from set_local_position_setpoint message + * + * @return x position + */ +static inline float mavlink_msg_set_local_position_setpoint_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field y from set_local_position_setpoint message + * + * @return y position + */ +static inline float mavlink_msg_set_local_position_setpoint_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field z from set_local_position_setpoint message + * + * @return z position + */ +static inline float mavlink_msg_set_local_position_setpoint_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field yaw from set_local_position_setpoint message + * + * @return Desired yaw angle + */ +static inline float mavlink_msg_set_local_position_setpoint_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Decode a set_local_position_setpoint message into a struct + * + * @param msg The message to decode + * @param set_local_position_setpoint C-struct to decode the message contents into + */ +static inline void mavlink_msg_set_local_position_setpoint_decode(const mavlink_message_t* msg, mavlink_set_local_position_setpoint_t* set_local_position_setpoint) +{ +#if MAVLINK_NEED_BYTE_SWAP + set_local_position_setpoint->x = mavlink_msg_set_local_position_setpoint_get_x(msg); + set_local_position_setpoint->y = mavlink_msg_set_local_position_setpoint_get_y(msg); + set_local_position_setpoint->z = mavlink_msg_set_local_position_setpoint_get_z(msg); + set_local_position_setpoint->yaw = mavlink_msg_set_local_position_setpoint_get_yaw(msg); + set_local_position_setpoint->target_system = mavlink_msg_set_local_position_setpoint_get_target_system(msg); + set_local_position_setpoint->target_component = mavlink_msg_set_local_position_setpoint_get_target_component(msg); + set_local_position_setpoint->coordinate_frame = mavlink_msg_set_local_position_setpoint_get_coordinate_frame(msg); +#else + memcpy(set_local_position_setpoint, _MAV_PAYLOAD(msg), 19); +#endif +} |