diff options
Diffstat (limited to 'src/include/mavlink/custom/headers/common/mavlink_msg_local_position_setpoint.h')
-rw-r--r-- | src/include/mavlink/custom/headers/common/mavlink_msg_local_position_setpoint.h | 305 |
1 files changed, 305 insertions, 0 deletions
diff --git a/src/include/mavlink/custom/headers/common/mavlink_msg_local_position_setpoint.h b/src/include/mavlink/custom/headers/common/mavlink_msg_local_position_setpoint.h new file mode 100644 index 000000000..8dae721be --- /dev/null +++ b/src/include/mavlink/custom/headers/common/mavlink_msg_local_position_setpoint.h @@ -0,0 +1,305 @@ +// MESSAGE LOCAL_POSITION_SETPOINT PACKING + +#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT 51 + +typedef struct __mavlink_local_position_setpoint_t +{ + float x; ///< x position + float y; ///< y position + float z; ///< z position + float yaw; ///< Desired yaw angle + uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU +} mavlink_local_position_setpoint_t; + +#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN 17 +#define MAVLINK_MSG_ID_51_LEN 17 + +#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_CRC 223 +#define MAVLINK_MSG_ID_51_CRC 223 + + + +#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT { \ + "LOCAL_POSITION_SETPOINT", \ + 5, \ + { { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_local_position_setpoint_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_setpoint_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_setpoint_t, z) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_setpoint_t, yaw) }, \ + { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_local_position_setpoint_t, coordinate_frame) }, \ + } \ +} + + +/** + * @brief Pack a 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 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_local_position_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t coordinate_frame, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN]; + _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, coordinate_frame); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN); +#else + mavlink_local_position_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.coordinate_frame = coordinate_frame; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN); +#endif +} + +/** + * @brief Pack a 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 will be sent over + * @param msg The MAVLink message to compress the data into + * @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_local_position_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t coordinate_frame,float x,float y,float z,float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN]; + _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, coordinate_frame); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN); +#else + mavlink_local_position_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.coordinate_frame = coordinate_frame; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN); +#endif +} + +/** + * @brief Encode a local_position_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 local_position_setpoint C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_local_position_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_setpoint_t* local_position_setpoint) +{ + return mavlink_msg_local_position_setpoint_pack(system_id, component_id, msg, local_position_setpoint->coordinate_frame, local_position_setpoint->x, local_position_setpoint->y, local_position_setpoint->z, local_position_setpoint->yaw); +} + +/** + * @brief Encode a local_position_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 local_position_setpoint C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_local_position_setpoint_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_local_position_setpoint_t* local_position_setpoint) +{ + return mavlink_msg_local_position_setpoint_pack_chan(system_id, component_id, chan, msg, local_position_setpoint->coordinate_frame, local_position_setpoint->x, local_position_setpoint->y, local_position_setpoint->z, local_position_setpoint->yaw); +} + +/** + * @brief Send a local_position_setpoint message + * @param chan MAVLink channel to send the message + * + * @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_local_position_setpoint_send(mavlink_channel_t chan, uint8_t coordinate_frame, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN]; + _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, coordinate_frame); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN); +#endif +#else + mavlink_local_position_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + packet.coordinate_frame = coordinate_frame; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_local_position_setpoint_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t coordinate_frame, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _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, coordinate_frame); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN); +#endif +#else + mavlink_local_position_setpoint_t *packet = (mavlink_local_position_setpoint_t *)msgbuf; + packet->x = x; + packet->y = y; + packet->z = z; + packet->yaw = yaw; + packet->coordinate_frame = coordinate_frame; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE LOCAL_POSITION_SETPOINT UNPACKING + + +/** + * @brief Get field coordinate_frame from 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_local_position_setpoint_get_coordinate_frame(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 16); +} + +/** + * @brief Get field x from local_position_setpoint message + * + * @return x position + */ +static inline float mavlink_msg_local_position_setpoint_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field y from local_position_setpoint message + * + * @return y position + */ +static inline float mavlink_msg_local_position_setpoint_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field z from local_position_setpoint message + * + * @return z position + */ +static inline float mavlink_msg_local_position_setpoint_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field yaw from local_position_setpoint message + * + * @return Desired yaw angle + */ +static inline float mavlink_msg_local_position_setpoint_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Decode a local_position_setpoint message into a struct + * + * @param msg The message to decode + * @param local_position_setpoint C-struct to decode the message contents into + */ +static inline void mavlink_msg_local_position_setpoint_decode(const mavlink_message_t* msg, mavlink_local_position_setpoint_t* local_position_setpoint) +{ +#if MAVLINK_NEED_BYTE_SWAP + local_position_setpoint->x = mavlink_msg_local_position_setpoint_get_x(msg); + local_position_setpoint->y = mavlink_msg_local_position_setpoint_get_y(msg); + local_position_setpoint->z = mavlink_msg_local_position_setpoint_get_z(msg); + local_position_setpoint->yaw = mavlink_msg_local_position_setpoint_get_yaw(msg); + local_position_setpoint->coordinate_frame = mavlink_msg_local_position_setpoint_get_coordinate_frame(msg); +#else + memcpy(local_position_setpoint, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN); +#endif +} |