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
|
// MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT PACKING
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT 59
typedef struct __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t
{
uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot
float roll_speed; ///< Desired roll angular speed in rad/s
float pitch_speed; ///< Desired pitch angular speed in rad/s
float yaw_speed; ///< Desired yaw angular speed in rad/s
float thrust; ///< Collective thrust, normalized to 0 .. 1
} mavlink_roll_pitch_yaw_speed_thrust_setpoint_t;
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN 20
#define MAVLINK_MSG_ID_59_LEN 20
#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT { \
"ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT", \
5, \
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, time_boot_ms) }, \
{ "roll_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, roll_speed) }, \
{ "pitch_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, pitch_speed) }, \
{ "yaw_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, yaw_speed) }, \
{ "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, thrust) }, \
} \
}
/**
* @brief Pack a roll_pitch_yaw_speed_thrust_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 time_boot_ms Timestamp in milliseconds since system boot
* @param roll_speed Desired roll angular speed in rad/s
* @param pitch_speed Desired pitch angular speed in rad/s
* @param yaw_speed Desired yaw angular speed in rad/s
* @param thrust Collective thrust, normalized to 0 .. 1
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t time_boot_ms, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, roll_speed);
_mav_put_float(buf, 8, pitch_speed);
_mav_put_float(buf, 12, yaw_speed);
_mav_put_float(buf, 16, thrust);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
#else
mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
packet.time_boot_ms = time_boot_ms;
packet.roll_speed = roll_speed;
packet.pitch_speed = pitch_speed;
packet.yaw_speed = yaw_speed;
packet.thrust = thrust;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
#endif
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
return mavlink_finalize_message(msg, system_id, component_id, 20, 238);
}
/**
* @brief Pack a roll_pitch_yaw_speed_thrust_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 time_boot_ms Timestamp in milliseconds since system boot
* @param roll_speed Desired roll angular speed in rad/s
* @param pitch_speed Desired pitch angular speed in rad/s
* @param yaw_speed Desired yaw angular speed in rad/s
* @param thrust Collective thrust, normalized to 0 .. 1
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t time_boot_ms,float roll_speed,float pitch_speed,float yaw_speed,float thrust)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, roll_speed);
_mav_put_float(buf, 8, pitch_speed);
_mav_put_float(buf, 12, yaw_speed);
_mav_put_float(buf, 16, thrust);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
#else
mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
packet.time_boot_ms = time_boot_ms;
packet.roll_speed = roll_speed;
packet.pitch_speed = pitch_speed;
packet.yaw_speed = yaw_speed;
packet.thrust = thrust;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
#endif
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 238);
}
/**
* @brief Encode a roll_pitch_yaw_speed_thrust_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 roll_pitch_yaw_speed_thrust_setpoint C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
{
return mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_speed_thrust_setpoint->time_boot_ms, roll_pitch_yaw_speed_thrust_setpoint->roll_speed, roll_pitch_yaw_speed_thrust_setpoint->pitch_speed, roll_pitch_yaw_speed_thrust_setpoint->yaw_speed, roll_pitch_yaw_speed_thrust_setpoint->thrust);
}
/**
* @brief Send a roll_pitch_yaw_speed_thrust_setpoint message
* @param chan MAVLink channel to send the message
*
* @param time_boot_ms Timestamp in milliseconds since system boot
* @param roll_speed Desired roll angular speed in rad/s
* @param pitch_speed Desired pitch angular speed in rad/s
* @param yaw_speed Desired yaw angular speed in rad/s
* @param thrust Collective thrust, normalized to 0 .. 1
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, roll_speed);
_mav_put_float(buf, 8, pitch_speed);
_mav_put_float(buf, 12, yaw_speed);
_mav_put_float(buf, 16, thrust);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, buf, 20, 238);
#else
mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
packet.time_boot_ms = time_boot_ms;
packet.roll_speed = roll_speed;
packet.pitch_speed = pitch_speed;
packet.yaw_speed = yaw_speed;
packet.thrust = thrust;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, (const char *)&packet, 20, 238);
#endif
}
#endif
// MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT UNPACKING
/**
* @brief Get field time_boot_ms from roll_pitch_yaw_speed_thrust_setpoint message
*
* @return Timestamp in milliseconds since system boot
*/
static inline uint32_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_boot_ms(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field roll_speed from roll_pitch_yaw_speed_thrust_setpoint message
*
* @return Desired roll angular speed in rad/s
*/
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field pitch_speed from roll_pitch_yaw_speed_thrust_setpoint message
*
* @return Desired pitch angular speed in rad/s
*/
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field yaw_speed from roll_pitch_yaw_speed_thrust_setpoint message
*
* @return Desired yaw angular speed in rad/s
*/
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field thrust from roll_pitch_yaw_speed_thrust_setpoint message
*
* @return Collective thrust, normalized to 0 .. 1
*/
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Decode a roll_pitch_yaw_speed_thrust_setpoint message into a struct
*
* @param msg The message to decode
* @param roll_pitch_yaw_speed_thrust_setpoint C-struct to decode the message contents into
*/
static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
{
#if MAVLINK_NEED_BYTE_SWAP
roll_pitch_yaw_speed_thrust_setpoint->time_boot_ms = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_boot_ms(msg);
roll_pitch_yaw_speed_thrust_setpoint->roll_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(msg);
roll_pitch_yaw_speed_thrust_setpoint->pitch_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(msg);
roll_pitch_yaw_speed_thrust_setpoint->yaw_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(msg);
roll_pitch_yaw_speed_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(msg);
#else
memcpy(roll_pitch_yaw_speed_thrust_setpoint, _MAV_PAYLOAD(msg), 20);
#endif
}
|