1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
|
// MESSAGE COMMAND PACKING
#define MAVLINK_MSG_ID_COMMAND 75
typedef struct __mavlink_command_t
{
uint8_t target_system; ///< System which should execute the command
uint8_t target_component; ///< Component which should execute the command, 0 for all components
uint8_t command; ///< Command ID, as defined by MAV_CMD enum.
uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
float param1; ///< Parameter 1, as defined by MAV_CMD enum.
float param2; ///< Parameter 2, as defined by MAV_CMD enum.
float param3; ///< Parameter 3, as defined by MAV_CMD enum.
float param4; ///< Parameter 4, as defined by MAV_CMD enum.
} mavlink_command_t;
#define MAVLINK_MSG_ID_COMMAND_LEN 20
#define MAVLINK_MSG_ID_75_LEN 20
#define MAVLINK_MESSAGE_INFO_COMMAND { \
"COMMAND", \
8, \
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_command_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_command_t, target_component) }, \
{ "command", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_t, command) }, \
{ "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_command_t, confirmation) }, \
{ "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_t, param1) }, \
{ "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_t, param2) }, \
{ "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_t, param3) }, \
{ "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_t, param4) }, \
} \
}
/**
* @brief Pack a command 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 which should execute the command
* @param target_component Component which should execute the command, 0 for all components
* @param command Command ID, as defined by MAV_CMD enum.
* @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
* @param param1 Parameter 1, as defined by MAV_CMD enum.
* @param param2 Parameter 2, as defined by MAV_CMD enum.
* @param param3 Parameter 3, as defined by MAV_CMD enum.
* @param param4 Parameter 4, as defined by MAV_CMD enum.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, command);
_mav_put_uint8_t(buf, 3, confirmation);
_mav_put_float(buf, 4, param1);
_mav_put_float(buf, 8, param2);
_mav_put_float(buf, 12, param3);
_mav_put_float(buf, 16, param4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
#else
mavlink_command_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.command = command;
packet.confirmation = confirmation;
packet.param1 = param1;
packet.param2 = param2;
packet.param3 = param3;
packet.param4 = param4;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
#endif
msg->msgid = MAVLINK_MSG_ID_COMMAND;
return mavlink_finalize_message(msg, system_id, component_id, 20);
}
/**
* @brief Pack a command 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 which should execute the command
* @param target_component Component which should execute the command, 0 for all components
* @param command Command ID, as defined by MAV_CMD enum.
* @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
* @param param1 Parameter 1, as defined by MAV_CMD enum.
* @param param2 Parameter 2, as defined by MAV_CMD enum.
* @param param3 Parameter 3, as defined by MAV_CMD enum.
* @param param4 Parameter 4, as defined by MAV_CMD enum.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_command_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 command,uint8_t confirmation,float param1,float param2,float param3,float param4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, command);
_mav_put_uint8_t(buf, 3, confirmation);
_mav_put_float(buf, 4, param1);
_mav_put_float(buf, 8, param2);
_mav_put_float(buf, 12, param3);
_mav_put_float(buf, 16, param4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
#else
mavlink_command_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.command = command;
packet.confirmation = confirmation;
packet.param1 = param1;
packet.param2 = param2;
packet.param3 = param3;
packet.param4 = param4;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
#endif
msg->msgid = MAVLINK_MSG_ID_COMMAND;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20);
}
/**
* @brief Encode a command 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 command C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_t* command)
{
return mavlink_msg_command_pack(system_id, component_id, msg, command->target_system, command->target_component, command->command, command->confirmation, command->param1, command->param2, command->param3, command->param4);
}
/**
* @brief Send a command message
* @param chan MAVLink channel to send the message
*
* @param target_system System which should execute the command
* @param target_component Component which should execute the command, 0 for all components
* @param command Command ID, as defined by MAV_CMD enum.
* @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
* @param param1 Parameter 1, as defined by MAV_CMD enum.
* @param param2 Parameter 2, as defined by MAV_CMD enum.
* @param param3 Parameter 3, as defined by MAV_CMD enum.
* @param param4 Parameter 4, as defined by MAV_CMD enum.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_command_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, command);
_mav_put_uint8_t(buf, 3, confirmation);
_mav_put_float(buf, 4, param1);
_mav_put_float(buf, 8, param2);
_mav_put_float(buf, 12, param3);
_mav_put_float(buf, 16, param4);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, buf, 20);
#else
mavlink_command_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.command = command;
packet.confirmation = confirmation;
packet.param1 = param1;
packet.param2 = param2;
packet.param3 = param3;
packet.param4 = param4;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, (const char *)&packet, 20);
#endif
}
#endif
// MESSAGE COMMAND UNPACKING
/**
* @brief Get field target_system from command message
*
* @return System which should execute the command
*/
static inline uint8_t mavlink_msg_command_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field target_component from command message
*
* @return Component which should execute the command, 0 for all components
*/
static inline uint8_t mavlink_msg_command_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field command from command message
*
* @return Command ID, as defined by MAV_CMD enum.
*/
static inline uint8_t mavlink_msg_command_get_command(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Get field confirmation from command message
*
* @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
*/
static inline uint8_t mavlink_msg_command_get_confirmation(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 3);
}
/**
* @brief Get field param1 from command message
*
* @return Parameter 1, as defined by MAV_CMD enum.
*/
static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field param2 from command message
*
* @return Parameter 2, as defined by MAV_CMD enum.
*/
static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field param3 from command message
*
* @return Parameter 3, as defined by MAV_CMD enum.
*/
static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field param4 from command message
*
* @return Parameter 4, as defined by MAV_CMD enum.
*/
static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Decode a command message into a struct
*
* @param msg The message to decode
* @param command C-struct to decode the message contents into
*/
static inline void mavlink_msg_command_decode(const mavlink_message_t* msg, mavlink_command_t* command)
{
#if MAVLINK_NEED_BYTE_SWAP
command->target_system = mavlink_msg_command_get_target_system(msg);
command->target_component = mavlink_msg_command_get_target_component(msg);
command->command = mavlink_msg_command_get_command(msg);
command->confirmation = mavlink_msg_command_get_confirmation(msg);
command->param1 = mavlink_msg_command_get_param1(msg);
command->param2 = mavlink_msg_command_get_param2(msg);
command->param3 = mavlink_msg_command_get_param3(msg);
command->param4 = mavlink_msg_command_get_param4(msg);
#else
memcpy(command, _MAV_PAYLOAD(msg), 20);
#endif
}
|