mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.0 KiB
C
75 lines
2.0 KiB
C
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// MESSAGE AIRSPEED PACKING
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#define MAVLINK_MSG_ID_AIRSPEED 72
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typedef struct __mavlink_airspeed_t
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{
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float airspeed; ///< meters/second
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} mavlink_airspeed_t;
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/**
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* @brief Send a airspeed message
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*
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* @param airspeed meters/second
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_airspeed_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float airspeed)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_AIRSPEED;
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i += put_float_by_index(airspeed, i, msg->payload); //meters/second
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return mavlink_finalize_message(msg, system_id, component_id, i);
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}
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static inline uint16_t mavlink_msg_airspeed_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float airspeed)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_AIRSPEED;
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i += put_float_by_index(airspeed, i, msg->payload); //meters/second
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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}
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static inline uint16_t mavlink_msg_airspeed_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_airspeed_t* airspeed)
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{
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return mavlink_msg_airspeed_pack(system_id, component_id, msg, airspeed->airspeed);
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}
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_airspeed_send(mavlink_channel_t chan, float airspeed)
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{
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mavlink_message_t msg;
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mavlink_msg_airspeed_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, airspeed);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE AIRSPEED UNPACKING
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/**
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* @brief Get field airspeed from airspeed message
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*
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* @return meters/second
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*/
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static inline float mavlink_msg_airspeed_get_airspeed(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload)[0];
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r.b[2] = (msg->payload)[1];
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r.b[1] = (msg->payload)[2];
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r.b[0] = (msg->payload)[3];
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return (float)r.f;
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}
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static inline void mavlink_msg_airspeed_decode(const mavlink_message_t* msg, mavlink_airspeed_t* airspeed)
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{
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airspeed->airspeed = mavlink_msg_airspeed_get_airspeed(msg);
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}
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