diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_attitude_control.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_attitude_control.h | 320 |
1 files changed, 320 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_attitude_control.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_attitude_control.h new file mode 100644 index 000000000..819c45bf2 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_attitude_control.h @@ -0,0 +1,320 @@ +// MESSAGE ATTITUDE_CONTROL PACKING + +#define MAVLINK_MSG_ID_ATTITUDE_CONTROL 200 + +typedef struct __mavlink_attitude_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 +} mavlink_attitude_control_t; + +#define MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN 21 +#define MAVLINK_MSG_ID_200_LEN 21 + + + +#define MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL { \ + "ATTITUDE_CONTROL", \ + 9, \ + { { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_attitude_control_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_control_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_control_t, yaw) }, \ + { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_control_t, thrust) }, \ + { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_attitude_control_t, target) }, \ + { "roll_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_attitude_control_t, roll_manual) }, \ + { "pitch_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_attitude_control_t, pitch_manual) }, \ + { "yaw_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_attitude_control_t, yaw_manual) }, \ + { "thrust_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_attitude_control_t, thrust_manual) }, \ + } \ +} + + +/** + * @brief Pack a attitude_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 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 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_attitude_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) +{ +#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); +#else + mavlink_attitude_control_t packet; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + 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); +#endif + + msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL; + return mavlink_finalize_message(msg, system_id, component_id, 21, 254); +} + +/** + * @brief Pack a attitude_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 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 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_attitude_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) +{ +#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); +#else + mavlink_attitude_control_t packet; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + 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); +#endif + + msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 254); +} + +/** + * @brief Encode a attitude_control 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 attitude_control C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_attitude_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_control_t* attitude_control) +{ + return mavlink_msg_attitude_control_pack(system_id, component_id, msg, attitude_control->target, attitude_control->roll, attitude_control->pitch, attitude_control->yaw, attitude_control->thrust, attitude_control->roll_manual, attitude_control->pitch_manual, attitude_control->yaw_manual, attitude_control->thrust_manual); +} + +/** + * @brief Send a attitude_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 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_attitude_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) +{ +#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_ATTITUDE_CONTROL, buf, 21, 254); +#else + mavlink_attitude_control_t packet; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + 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_ATTITUDE_CONTROL, (const char *)&packet, 21, 254); +#endif +} + +#endif + +// MESSAGE ATTITUDE_CONTROL UNPACKING + + +/** + * @brief Get field target from attitude_control message + * + * @return The system to be controlled + */ +static inline uint8_t mavlink_msg_attitude_control_get_target(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 16); +} + +/** + * @brief Get field roll from attitude_control message + * + * @return roll + */ +static inline float mavlink_msg_attitude_control_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field pitch from attitude_control message + * + * @return pitch + */ +static inline float mavlink_msg_attitude_control_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field yaw from attitude_control message + * + * @return yaw + */ +static inline float mavlink_msg_attitude_control_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field thrust from attitude_control message + * + * @return thrust + */ +static inline float mavlink_msg_attitude_control_get_thrust(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field roll_manual from attitude_control message + * + * @return roll control enabled auto:0, manual:1 + */ +static inline uint8_t mavlink_msg_attitude_control_get_roll_manual(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 17); +} + +/** + * @brief Get field pitch_manual from attitude_control message + * + * @return pitch auto:0, manual:1 + */ +static inline uint8_t mavlink_msg_attitude_control_get_pitch_manual(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 18); +} + +/** + * @brief Get field yaw_manual from attitude_control message + * + * @return yaw auto:0, manual:1 + */ +static inline uint8_t mavlink_msg_attitude_control_get_yaw_manual(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 19); +} + +/** + * @brief Get field thrust_manual from attitude_control message + * + * @return thrust auto:0, manual:1 + */ +static inline uint8_t mavlink_msg_attitude_control_get_thrust_manual(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 20); +} + +/** + * @brief Decode a attitude_control message into a struct + * + * @param msg The message to decode + * @param attitude_control C-struct to decode the message contents into + */ +static inline void mavlink_msg_attitude_control_decode(const mavlink_message_t* msg, mavlink_attitude_control_t* attitude_control) +{ +#if MAVLINK_NEED_BYTE_SWAP + attitude_control->roll = mavlink_msg_attitude_control_get_roll(msg); + attitude_control->pitch = mavlink_msg_attitude_control_get_pitch(msg); + attitude_control->yaw = mavlink_msg_attitude_control_get_yaw(msg); + attitude_control->thrust = mavlink_msg_attitude_control_get_thrust(msg); + attitude_control->target = mavlink_msg_attitude_control_get_target(msg); + attitude_control->roll_manual = mavlink_msg_attitude_control_get_roll_manual(msg); + attitude_control->pitch_manual = mavlink_msg_attitude_control_get_pitch_manual(msg); + attitude_control->yaw_manual = mavlink_msg_attitude_control_get_yaw_manual(msg); + attitude_control->thrust_manual = mavlink_msg_attitude_control_get_thrust_manual(msg); +#else + memcpy(attitude_control, _MAV_PAYLOAD(msg), 21); +#endif +} |