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 SET_GLOBAL_POSITION_SETPOINT_INT PACKING
#define MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT 53
typedef struct __mavlink_set_global_position_setpoint_int_t
{
int32_t latitude; ///< WGS84 Latitude position in degrees * 1E7
int32_t longitude; ///< WGS84 Longitude position in degrees * 1E7
int32_t altitude; ///< WGS84 Altitude in meters * 1000 (positive for up)
int16_t yaw; ///< Desired yaw angle in degrees * 100
uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
} mavlink_set_global_position_setpoint_int_t;
#define MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN 15
#define MAVLINK_MSG_ID_53_LEN 15
#define MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT { \
"SET_GLOBAL_POSITION_SETPOINT_INT", \
5, \
{ { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_global_position_setpoint_int_t, latitude) }, \
{ "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_global_position_setpoint_int_t, longitude) }, \
{ "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_global_position_setpoint_int_t, altitude) }, \
{ "yaw", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_set_global_position_setpoint_int_t, yaw) }, \
{ "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_set_global_position_setpoint_int_t, coordinate_frame) }, \
} \
}
/**
* @brief Pack a set_global_position_setpoint_int 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_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
* @param latitude WGS84 Latitude position in degrees * 1E7
* @param longitude WGS84 Longitude position in degrees * 1E7
* @param altitude WGS84 Altitude in meters * 1000 (positive for up)
* @param yaw Desired yaw angle in degrees * 100
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_global_position_setpoint_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[15];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
_mav_put_int16_t(buf, 12, yaw);
_mav_put_uint8_t(buf, 14, coordinate_frame);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15);
#else
mavlink_set_global_position_setpoint_int_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
packet.yaw = yaw;
packet.coordinate_frame = coordinate_frame;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT;
return mavlink_finalize_message(msg, system_id, component_id, 15, 33);
}
/**
* @brief Pack a set_global_position_setpoint_int 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 coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
* @param latitude WGS84 Latitude position in degrees * 1E7
* @param longitude WGS84 Longitude position in degrees * 1E7
* @param altitude WGS84 Altitude in meters * 1000 (positive for up)
* @param yaw Desired yaw angle in degrees * 100
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_global_position_setpoint_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t coordinate_frame,int32_t latitude,int32_t longitude,int32_t altitude,int16_t yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[15];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
_mav_put_int16_t(buf, 12, yaw);
_mav_put_uint8_t(buf, 14, coordinate_frame);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15);
#else
mavlink_set_global_position_setpoint_int_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
packet.yaw = yaw;
packet.coordinate_frame = coordinate_frame;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 15, 33);
}
/**
* @brief Encode a set_global_position_setpoint_int 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 set_global_position_setpoint_int C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_set_global_position_setpoint_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_global_position_setpoint_int_t* set_global_position_setpoint_int)
{
return mavlink_msg_set_global_position_setpoint_int_pack(system_id, component_id, msg, set_global_position_setpoint_int->coordinate_frame, set_global_position_setpoint_int->latitude, set_global_position_setpoint_int->longitude, set_global_position_setpoint_int->altitude, set_global_position_setpoint_int->yaw);
}
/**
* @brief Send a set_global_position_setpoint_int message
* @param chan MAVLink channel to send the message
*
* @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
* @param latitude WGS84 Latitude position in degrees * 1E7
* @param longitude WGS84 Longitude position in degrees * 1E7
* @param altitude WGS84 Altitude in meters * 1000 (positive for up)
* @param yaw Desired yaw angle in degrees * 100
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_set_global_position_setpoint_int_send(mavlink_channel_t chan, uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[15];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
_mav_put_int16_t(buf, 12, yaw);
_mav_put_uint8_t(buf, 14, coordinate_frame);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, buf, 15, 33);
#else
mavlink_set_global_position_setpoint_int_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
packet.yaw = yaw;
packet.coordinate_frame = coordinate_frame;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, (const char *)&packet, 15, 33);
#endif
}
#endif
// MESSAGE SET_GLOBAL_POSITION_SETPOINT_INT UNPACKING
/**
* @brief Get field coordinate_frame from set_global_position_setpoint_int message
*
* @return Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
*/
static inline uint8_t mavlink_msg_set_global_position_setpoint_int_get_coordinate_frame(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 14);
}
/**
* @brief Get field latitude from set_global_position_setpoint_int message
*
* @return WGS84 Latitude position in degrees * 1E7
*/
static inline int32_t mavlink_msg_set_global_position_setpoint_int_get_latitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 0);
}
/**
* @brief Get field longitude from set_global_position_setpoint_int message
*
* @return WGS84 Longitude position in degrees * 1E7
*/
static inline int32_t mavlink_msg_set_global_position_setpoint_int_get_longitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 4);
}
/**
* @brief Get field altitude from set_global_position_setpoint_int message
*
* @return WGS84 Altitude in meters * 1000 (positive for up)
*/
static inline int32_t mavlink_msg_set_global_position_setpoint_int_get_altitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 8);
}
/**
* @brief Get field yaw from set_global_position_setpoint_int message
*
* @return Desired yaw angle in degrees * 100
*/
static inline int16_t mavlink_msg_set_global_position_setpoint_int_get_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 12);
}
/**
* @brief Decode a set_global_position_setpoint_int message into a struct
*
* @param msg The message to decode
* @param set_global_position_setpoint_int C-struct to decode the message contents into
*/
static inline void mavlink_msg_set_global_position_setpoint_int_decode(const mavlink_message_t* msg, mavlink_set_global_position_setpoint_int_t* set_global_position_setpoint_int)
{
#if MAVLINK_NEED_BYTE_SWAP
set_global_position_setpoint_int->latitude = mavlink_msg_set_global_position_setpoint_int_get_latitude(msg);
set_global_position_setpoint_int->longitude = mavlink_msg_set_global_position_setpoint_int_get_longitude(msg);
set_global_position_setpoint_int->altitude = mavlink_msg_set_global_position_setpoint_int_get_altitude(msg);
set_global_position_setpoint_int->yaw = mavlink_msg_set_global_position_setpoint_int_get_yaw(msg);
set_global_position_setpoint_int->coordinate_frame = mavlink_msg_set_global_position_setpoint_int_get_coordinate_frame(msg);
#else
memcpy(set_global_position_setpoint_int, _MAV_PAYLOAD(msg), 15);
#endif
}
|
