diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h | 211 |
1 files changed, 113 insertions, 98 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h index c3ea8de40..35c5db18c 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h @@ -4,30 +4,31 @@ typedef struct __mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t { - int16_t roll[6]; ///< Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5 - int16_t pitch[6]; ///< Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5 - int16_t yaw[6]; ///< Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5 - uint16_t thrust[6]; ///< Collective thrust, scaled to uint16 for 6 quadrotors: 0..5 - uint8_t target_systems[6]; ///< System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs + int16_t roll[4]; ///< Desired roll angle in radians +-PI (+-32767) + int16_t pitch[4]; ///< Desired pitch angle in radians +-PI (+-32767) + int16_t yaw[4]; ///< Desired yaw angle in radians, scaled to int16 +-PI (+-32767) + uint16_t thrust[4]; ///< Collective thrust, scaled to uint16 (0..65535) + uint8_t group; ///< ID of the quadrotor group (0 - 255, up to 256 groups supported) + uint8_t mode; ///< ID of the flight mode (0 - 255, up to 256 modes supported) } mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t; -#define MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN 54 -#define MAVLINK_MSG_ID_61_LEN 54 +#define MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN 34 +#define MAVLINK_MSG_ID_61_LEN 34 -#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_ROLL_LEN 6 -#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_PITCH_LEN 6 -#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_YAW_LEN 6 -#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_THRUST_LEN 6 -#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_TARGET_SYSTEMS_LEN 6 +#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_ROLL_LEN 4 +#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_PITCH_LEN 4 +#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_YAW_LEN 4 +#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_THRUST_LEN 4 #define MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST { \ "SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST", \ - 5, \ - { { "roll", NULL, MAVLINK_TYPE_INT16_T, 6, 0, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, roll) }, \ - { "pitch", NULL, MAVLINK_TYPE_INT16_T, 6, 12, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, pitch) }, \ - { "yaw", NULL, MAVLINK_TYPE_INT16_T, 6, 24, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, yaw) }, \ - { "thrust", NULL, MAVLINK_TYPE_UINT16_T, 6, 36, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, thrust) }, \ - { "target_systems", NULL, MAVLINK_TYPE_UINT8_T, 6, 48, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, target_systems) }, \ + 6, \ + { { "roll", NULL, MAVLINK_TYPE_INT16_T, 4, 0, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_INT16_T, 4, 8, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_INT16_T, 4, 16, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, yaw) }, \ + { "thrust", NULL, MAVLINK_TYPE_UINT16_T, 4, 24, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, thrust) }, \ + { "group", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, group) }, \ + { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, mode) }, \ } \ } @@ -38,38 +39,39 @@ typedef struct __mavlink_set_quad_swarm_roll_pitch_yaw_thrust_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_systems System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs - * @param roll Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param pitch Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param yaw Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param thrust Collective thrust, scaled to uint16 for 6 quadrotors: 0..5 + * @param group ID of the quadrotor group (0 - 255, up to 256 groups supported) + * @param mode ID of the flight mode (0 - 255, up to 256 modes supported) + * @param roll Desired roll angle in radians +-PI (+-32767) + * @param pitch Desired pitch angle in radians +-PI (+-32767) + * @param yaw Desired yaw angle in radians, scaled to int16 +-PI (+-32767) + * @param thrust Collective thrust, scaled to uint16 (0..65535) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - const uint8_t *target_systems, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust) + uint8_t group, uint8_t mode, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[54]; - - _mav_put_int16_t_array(buf, 0, roll, 6); - _mav_put_int16_t_array(buf, 12, pitch, 6); - _mav_put_int16_t_array(buf, 24, yaw, 6); - _mav_put_uint16_t_array(buf, 36, thrust, 6); - _mav_put_uint8_t_array(buf, 48, target_systems, 6); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 54); + char buf[34]; + _mav_put_uint8_t(buf, 32, group); + _mav_put_uint8_t(buf, 33, mode); + _mav_put_int16_t_array(buf, 0, roll, 4); + _mav_put_int16_t_array(buf, 8, pitch, 4); + _mav_put_int16_t_array(buf, 16, yaw, 4); + _mav_put_uint16_t_array(buf, 24, thrust, 4); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 34); #else mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet; - - mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*6); - mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*6); - mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*6); - mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*6); - mav_array_memcpy(packet.target_systems, target_systems, sizeof(uint8_t)*6); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 54); + packet.group = group; + packet.mode = mode; + mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*4); + mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*4); + mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*4); + mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*4); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 34); #endif msg->msgid = MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST; - return mavlink_finalize_message(msg, system_id, component_id, 54, 200); + return mavlink_finalize_message(msg, system_id, component_id, 34, 240); } /** @@ -78,39 +80,40 @@ static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack(uin * @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_systems System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs - * @param roll Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param pitch Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param yaw Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param thrust Collective thrust, scaled to uint16 for 6 quadrotors: 0..5 + * @param group ID of the quadrotor group (0 - 255, up to 256 groups supported) + * @param mode ID of the flight mode (0 - 255, up to 256 modes supported) + * @param roll Desired roll angle in radians +-PI (+-32767) + * @param pitch Desired pitch angle in radians +-PI (+-32767) + * @param yaw Desired yaw angle in radians, scaled to int16 +-PI (+-32767) + * @param thrust Collective thrust, scaled to uint16 (0..65535) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, - const uint8_t *target_systems,const int16_t *roll,const int16_t *pitch,const int16_t *yaw,const uint16_t *thrust) + uint8_t group,uint8_t mode,const int16_t *roll,const int16_t *pitch,const int16_t *yaw,const uint16_t *thrust) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[54]; - - _mav_put_int16_t_array(buf, 0, roll, 6); - _mav_put_int16_t_array(buf, 12, pitch, 6); - _mav_put_int16_t_array(buf, 24, yaw, 6); - _mav_put_uint16_t_array(buf, 36, thrust, 6); - _mav_put_uint8_t_array(buf, 48, target_systems, 6); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 54); + char buf[34]; + _mav_put_uint8_t(buf, 32, group); + _mav_put_uint8_t(buf, 33, mode); + _mav_put_int16_t_array(buf, 0, roll, 4); + _mav_put_int16_t_array(buf, 8, pitch, 4); + _mav_put_int16_t_array(buf, 16, yaw, 4); + _mav_put_uint16_t_array(buf, 24, thrust, 4); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 34); #else mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet; - - mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*6); - mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*6); - mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*6); - mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*6); - mav_array_memcpy(packet.target_systems, target_systems, sizeof(uint8_t)*6); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 54); + packet.group = group; + packet.mode = mode; + mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*4); + mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*4); + mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*4); + mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*4); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 34); #endif msg->msgid = MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 54, 200); + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 34, 240); } /** @@ -123,41 +126,42 @@ static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack_cha */ static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t* set_quad_swarm_roll_pitch_yaw_thrust) { - return mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack(system_id, component_id, msg, set_quad_swarm_roll_pitch_yaw_thrust->target_systems, set_quad_swarm_roll_pitch_yaw_thrust->roll, set_quad_swarm_roll_pitch_yaw_thrust->pitch, set_quad_swarm_roll_pitch_yaw_thrust->yaw, set_quad_swarm_roll_pitch_yaw_thrust->thrust); + return mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack(system_id, component_id, msg, set_quad_swarm_roll_pitch_yaw_thrust->group, set_quad_swarm_roll_pitch_yaw_thrust->mode, set_quad_swarm_roll_pitch_yaw_thrust->roll, set_quad_swarm_roll_pitch_yaw_thrust->pitch, set_quad_swarm_roll_pitch_yaw_thrust->yaw, set_quad_swarm_roll_pitch_yaw_thrust->thrust); } /** * @brief Send a set_quad_swarm_roll_pitch_yaw_thrust message * @param chan MAVLink channel to send the message * - * @param target_systems System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs - * @param roll Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param pitch Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param yaw Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param thrust Collective thrust, scaled to uint16 for 6 quadrotors: 0..5 + * @param group ID of the quadrotor group (0 - 255, up to 256 groups supported) + * @param mode ID of the flight mode (0 - 255, up to 256 modes supported) + * @param roll Desired roll angle in radians +-PI (+-32767) + * @param pitch Desired pitch angle in radians +-PI (+-32767) + * @param yaw Desired yaw angle in radians, scaled to int16 +-PI (+-32767) + * @param thrust Collective thrust, scaled to uint16 (0..65535) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_send(mavlink_channel_t chan, const uint8_t *target_systems, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust) +static inline void mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_send(mavlink_channel_t chan, uint8_t group, uint8_t mode, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[54]; - - _mav_put_int16_t_array(buf, 0, roll, 6); - _mav_put_int16_t_array(buf, 12, pitch, 6); - _mav_put_int16_t_array(buf, 24, yaw, 6); - _mav_put_uint16_t_array(buf, 36, thrust, 6); - _mav_put_uint8_t_array(buf, 48, target_systems, 6); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, buf, 54, 200); + char buf[34]; + _mav_put_uint8_t(buf, 32, group); + _mav_put_uint8_t(buf, 33, mode); + _mav_put_int16_t_array(buf, 0, roll, 4); + _mav_put_int16_t_array(buf, 8, pitch, 4); + _mav_put_int16_t_array(buf, 16, yaw, 4); + _mav_put_uint16_t_array(buf, 24, thrust, 4); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, buf, 34, 240); #else mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet; - - mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*6); - mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*6); - mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*6); - mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*6); - mav_array_memcpy(packet.target_systems, target_systems, sizeof(uint8_t)*6); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, (const char *)&packet, 54, 200); + packet.group = group; + packet.mode = mode; + mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*4); + mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*4); + mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*4); + mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*4); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, (const char *)&packet, 34, 240); #endif } @@ -167,53 +171,63 @@ static inline void mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_send(mavlink /** - * @brief Get field target_systems from set_quad_swarm_roll_pitch_yaw_thrust message + * @brief Get field group from set_quad_swarm_roll_pitch_yaw_thrust message + * + * @return ID of the quadrotor group (0 - 255, up to 256 groups supported) + */ +static inline uint8_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_group(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 32); +} + +/** + * @brief Get field mode from set_quad_swarm_roll_pitch_yaw_thrust message * - * @return System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs + * @return ID of the flight mode (0 - 255, up to 256 modes supported) */ -static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_target_systems(const mavlink_message_t* msg, uint8_t *target_systems) +static inline uint8_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_mode(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t_array(msg, target_systems, 6, 48); + return _MAV_RETURN_uint8_t(msg, 33); } /** * @brief Get field roll from set_quad_swarm_roll_pitch_yaw_thrust message * - * @return Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5 + * @return Desired roll angle in radians +-PI (+-32767) */ static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_roll(const mavlink_message_t* msg, int16_t *roll) { - return _MAV_RETURN_int16_t_array(msg, roll, 6, 0); + return _MAV_RETURN_int16_t_array(msg, roll, 4, 0); } /** * @brief Get field pitch from set_quad_swarm_roll_pitch_yaw_thrust message * - * @return Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5 + * @return Desired pitch angle in radians +-PI (+-32767) */ static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_pitch(const mavlink_message_t* msg, int16_t *pitch) { - return _MAV_RETURN_int16_t_array(msg, pitch, 6, 12); + return _MAV_RETURN_int16_t_array(msg, pitch, 4, 8); } /** * @brief Get field yaw from set_quad_swarm_roll_pitch_yaw_thrust message * - * @return Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5 + * @return Desired yaw angle in radians, scaled to int16 +-PI (+-32767) */ static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_yaw(const mavlink_message_t* msg, int16_t *yaw) { - return _MAV_RETURN_int16_t_array(msg, yaw, 6, 24); + return _MAV_RETURN_int16_t_array(msg, yaw, 4, 16); } /** * @brief Get field thrust from set_quad_swarm_roll_pitch_yaw_thrust message * - * @return Collective thrust, scaled to uint16 for 6 quadrotors: 0..5 + * @return Collective thrust, scaled to uint16 (0..65535) */ static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_thrust(const mavlink_message_t* msg, uint16_t *thrust) { - return _MAV_RETURN_uint16_t_array(msg, thrust, 6, 36); + return _MAV_RETURN_uint16_t_array(msg, thrust, 4, 24); } /** @@ -229,8 +243,9 @@ static inline void mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(const mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_pitch(msg, set_quad_swarm_roll_pitch_yaw_thrust->pitch); mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_yaw(msg, set_quad_swarm_roll_pitch_yaw_thrust->yaw); mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_thrust(msg, set_quad_swarm_roll_pitch_yaw_thrust->thrust); - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_target_systems(msg, set_quad_swarm_roll_pitch_yaw_thrust->target_systems); + set_quad_swarm_roll_pitch_yaw_thrust->group = mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_group(msg); + set_quad_swarm_roll_pitch_yaw_thrust->mode = mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_mode(msg); #else - memcpy(set_quad_swarm_roll_pitch_yaw_thrust, _MAV_PAYLOAD(msg), 54); + memcpy(set_quad_swarm_roll_pitch_yaw_thrust, _MAV_PAYLOAD(msg), 34); #endif } |