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imported new MAVLink implementation 

this new implementation reduces code size, and also reduces stack
usage, while avoiding the gcc union stack bug

Note that we will gain even more when we move to the new protocol
version, especially in terms of code size

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3200 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
tridge60@gmail.com 2011-08-31 05:23:18 +00:00
parent 6c79b1c681
commit 3ae2186021
85 changed files with 12470 additions and 4906 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/GCS_MAVLink/GCS_MAVLink.h
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@ -7,6 +7,8 @@
#define GCS_MAVLink_h
#include <Stream.h>
#define MAVLINK_COMM_NUM_BUFFERS 2
#include "include/mavlink_types.h"
/// MAVLink stream used for HIL interaction

34
libraries/GCS_MAVLink/include/ardupilotmega/ardupilotmega.h
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@ -1,7 +1,6 @@
/** @file
* @brief MAVLink comm protocol.
* @brief MAVLink comm protocol generated from ardupilotmega.xml
* @see http://qgroundcontrol.org/mavlink/
* Generated on Saturday, August 13 2011, 08:44 UTC
*/
#ifndef ARDUPILOTMEGA_H
#define ARDUPILOTMEGA_H
@ -10,39 +9,46 @@
extern "C" {
#endif
// MESSAGE LENGTHS AND CRCS
#ifndef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS {3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51, 5}
#endif
#ifndef MAVLINK_MESSAGE_CRCS
#define MAVLINK_MESSAGE_CRCS {72, 39, 190, 92, 191, 217, 104, 119, 0, 219, 60, 186, 10, 0, 0, 0, 0, 0, 0, 0, 89, 159, 162, 121, 0, 149, 222, 110, 179, 136, 66, 126, 185, 147, 112, 252, 162, 215, 229, 128, 9, 106, 101, 213, 4, 229, 21, 214, 215, 14, 206, 50, 157, 126, 108, 213, 95, 5, 127, 0, 0, 0, 57, 126, 130, 119, 193, 191, 236, 158, 143, 0, 0, 104, 123, 131, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 174, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 155, 0, 0, 0, 0, 0, 0, 0, 0, 0, 143, 29, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 178, 224, 60, 106, 7}
#endif
#ifndef MAVLINK_MESSAGE_INFO
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_BOOT, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {}, MAVLINK_MESSAGE_INFO_ACTION_ACK, MAVLINK_MESSAGE_INFO_ACTION, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_NAV_MODE, {}, {}, {}, {}, {}, {}, {}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, {}, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_CONTROL_STATUS, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {}, {}, {}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_SET_ALTITUDE, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {}, {}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT, {}, {}, {}, {}, {}, {}, {}, {}, {}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG}
#endif
#include "../protocol.h"
#define MAVLINK_ENABLED_ARDUPILOTMEGA
#include "../common/common.h"
// MAVLINK VERSION
#ifndef MAVLINK_VERSION
#define MAVLINK_VERSION 0
#define MAVLINK_VERSION 2
#endif
#if (MAVLINK_VERSION == 0)
#undef MAVLINK_VERSION
#define MAVLINK_VERSION 0
#define MAVLINK_VERSION 2
#endif
// ENUM DEFINITIONS
// MESSAGE DEFINITIONS
// MESSAGE DEFINITIONS
#include "./mavlink_msg_sensor_offsets.h"
#include "./mavlink_msg_set_mag_offsets.h"
// MESSAGE LENGTHS
#undef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#ifdef __cplusplus
}
#endif
#endif
#endif // __cplusplus
#endif // ARDUPILOTMEGA_H

22
libraries/GCS_MAVLink/include/ardupilotmega/mavlink.h
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@ -1,11 +1,27 @@
/** @file
* @brief MAVLink comm protocol.
* @brief MAVLink comm protocol built from ardupilotmega.xml
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Saturday, August 13 2011, 08:44 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#ifndef MAVLINK_STX
#define MAVLINK_STX 85
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN
#endif
#ifndef MAVLINK_ALIGNED_FIELDS
#define MAVLINK_ALIGNED_FIELDS 0
#endif
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 0
#endif
#include "version.h"
#include "ardupilotmega.h"
#endif
#endif // MAVLINK_H

280
libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_sensor_offsets.h
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@ -2,23 +2,44 @@
#define MAVLINK_MSG_ID_SENSOR_OFFSETS 150
typedef struct __mavlink_sensor_offsets_t
typedef struct __mavlink_sensor_offsets_t
{
int16_t mag_ofs_x; ///< magnetometer X offset
int16_t mag_ofs_y; ///< magnetometer Y offset
int16_t mag_ofs_z; ///< magnetometer Z offset
float mag_declination; ///< magnetic declination (radians)
int32_t raw_press; ///< raw pressure from barometer
int32_t raw_temp; ///< raw temperature from barometer
float gyro_cal_x; ///< gyro X calibration
float gyro_cal_y; ///< gyro Y calibration
float gyro_cal_z; ///< gyro Z calibration
float accel_cal_x; ///< accel X calibration
float accel_cal_y; ///< accel Y calibration
float accel_cal_z; ///< accel Z calibration
int16_t mag_ofs_x; ///< magnetometer X offset
int16_t mag_ofs_y; ///< magnetometer Y offset
int16_t mag_ofs_z; ///< magnetometer Z offset
float mag_declination; ///< magnetic declination (radians)
int32_t raw_press; ///< raw pressure from barometer
int32_t raw_temp; ///< raw temperature from barometer
float gyro_cal_x; ///< gyro X calibration
float gyro_cal_y; ///< gyro Y calibration
float gyro_cal_z; ///< gyro Z calibration
float accel_cal_x; ///< accel X calibration
float accel_cal_y; ///< accel Y calibration
float accel_cal_z; ///< accel Z calibration
} mavlink_sensor_offsets_t;
#define MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN 42
#define MAVLINK_MSG_ID_150_LEN 42
#define MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS { \
"SENSOR_OFFSETS", \
12, \
{ { "mag_ofs_x", MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_sensor_offsets_t, mag_ofs_x) }, \
{ "mag_ofs_y", MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_sensor_offsets_t, mag_ofs_y) }, \
{ "mag_ofs_z", MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_sensor_offsets_t, mag_ofs_z) }, \
{ "mag_declination", MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_sensor_offsets_t, mag_declination) }, \
{ "raw_press", MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_sensor_offsets_t, raw_press) }, \
{ "raw_temp", MAVLINK_TYPE_INT32_T, 0, 14, offsetof(mavlink_sensor_offsets_t, raw_temp) }, \
{ "gyro_cal_x", MAVLINK_TYPE_FLOAT, 0, 18, offsetof(mavlink_sensor_offsets_t, gyro_cal_x) }, \
{ "gyro_cal_y", MAVLINK_TYPE_FLOAT, 0, 22, offsetof(mavlink_sensor_offsets_t, gyro_cal_y) }, \
{ "gyro_cal_z", MAVLINK_TYPE_FLOAT, 0, 26, offsetof(mavlink_sensor_offsets_t, gyro_cal_z) }, \
{ "accel_cal_x", MAVLINK_TYPE_FLOAT, 0, 30, offsetof(mavlink_sensor_offsets_t, accel_cal_x) }, \
{ "accel_cal_y", MAVLINK_TYPE_FLOAT, 0, 34, offsetof(mavlink_sensor_offsets_t, accel_cal_y) }, \
{ "accel_cal_z", MAVLINK_TYPE_FLOAT, 0, 38, offsetof(mavlink_sensor_offsets_t, accel_cal_z) }, \
} \
}
/**
@ -41,29 +62,49 @@ typedef struct __mavlink_sensor_offsets_t
* @param accel_cal_z accel Z calibration
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[42];
_mav_put_int16_t(buf, 0, mag_ofs_x);
_mav_put_int16_t(buf, 2, mag_ofs_y);
_mav_put_int16_t(buf, 4, mag_ofs_z);
_mav_put_float(buf, 6, mag_declination);
_mav_put_int32_t(buf, 10, raw_press);
_mav_put_int32_t(buf, 14, raw_temp);
_mav_put_float(buf, 18, gyro_cal_x);
_mav_put_float(buf, 22, gyro_cal_y);
_mav_put_float(buf, 26, gyro_cal_z);
_mav_put_float(buf, 30, accel_cal_x);
_mav_put_float(buf, 34, accel_cal_y);
_mav_put_float(buf, 38, accel_cal_z);
memcpy(_MAV_PAYLOAD(msg), buf, 42);
#else
mavlink_sensor_offsets_t packet;
packet.mag_ofs_x = mag_ofs_x;
packet.mag_ofs_y = mag_ofs_y;
packet.mag_ofs_z = mag_ofs_z;
packet.mag_declination = mag_declination;
packet.raw_press = raw_press;
packet.raw_temp = raw_temp;
packet.gyro_cal_x = gyro_cal_x;
packet.gyro_cal_y = gyro_cal_y;
packet.gyro_cal_z = gyro_cal_z;
packet.accel_cal_x = accel_cal_x;
packet.accel_cal_y = accel_cal_y;
packet.accel_cal_z = accel_cal_z;
memcpy(_MAV_PAYLOAD(msg), &packet, 42);
#endif
msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset
i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset
i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset
i += put_float_by_index(mag_declination, i, msg->payload); // magnetic declination (radians)
i += put_int32_t_by_index(raw_press, i, msg->payload); // raw pressure from barometer
i += put_int32_t_by_index(raw_temp, i, msg->payload); // raw temperature from barometer
i += put_float_by_index(gyro_cal_x, i, msg->payload); // gyro X calibration
i += put_float_by_index(gyro_cal_y, i, msg->payload); // gyro Y calibration
i += put_float_by_index(gyro_cal_z, i, msg->payload); // gyro Z calibration
i += put_float_by_index(accel_cal_x, i, msg->payload); // accel X calibration
i += put_float_by_index(accel_cal_y, i, msg->payload); // accel Y calibration
i += put_float_by_index(accel_cal_z, i, msg->payload); // accel Z calibration
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 42);
}
/**
* @brief Pack a sensor_offsets message
* @brief Pack a sensor_offsets 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
@ -82,25 +123,46 @@ static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_
* @param accel_cal_z accel Z calibration
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
int16_t mag_ofs_x,int16_t mag_ofs_y,int16_t mag_ofs_z,float mag_declination,int32_t raw_press,int32_t raw_temp,float gyro_cal_x,float gyro_cal_y,float gyro_cal_z,float accel_cal_x,float accel_cal_y,float accel_cal_z)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[42];
_mav_put_int16_t(buf, 0, mag_ofs_x);
_mav_put_int16_t(buf, 2, mag_ofs_y);
_mav_put_int16_t(buf, 4, mag_ofs_z);
_mav_put_float(buf, 6, mag_declination);
_mav_put_int32_t(buf, 10, raw_press);
_mav_put_int32_t(buf, 14, raw_temp);
_mav_put_float(buf, 18, gyro_cal_x);
_mav_put_float(buf, 22, gyro_cal_y);
_mav_put_float(buf, 26, gyro_cal_z);
_mav_put_float(buf, 30, accel_cal_x);
_mav_put_float(buf, 34, accel_cal_y);
_mav_put_float(buf, 38, accel_cal_z);
memcpy(_MAV_PAYLOAD(msg), buf, 42);
#else
mavlink_sensor_offsets_t packet;
packet.mag_ofs_x = mag_ofs_x;
packet.mag_ofs_y = mag_ofs_y;
packet.mag_ofs_z = mag_ofs_z;
packet.mag_declination = mag_declination;
packet.raw_press = raw_press;
packet.raw_temp = raw_temp;
packet.gyro_cal_x = gyro_cal_x;
packet.gyro_cal_y = gyro_cal_y;
packet.gyro_cal_z = gyro_cal_z;
packet.accel_cal_x = accel_cal_x;
packet.accel_cal_y = accel_cal_y;
packet.accel_cal_z = accel_cal_z;
memcpy(_MAV_PAYLOAD(msg), &packet, 42);
#endif
msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset
i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset
i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset
i += put_float_by_index(mag_declination, i, msg->payload); // magnetic declination (radians)
i += put_int32_t_by_index(raw_press, i, msg->payload); // raw pressure from barometer
i += put_int32_t_by_index(raw_temp, i, msg->payload); // raw temperature from barometer
i += put_float_by_index(gyro_cal_x, i, msg->payload); // gyro X calibration
i += put_float_by_index(gyro_cal_y, i, msg->payload); // gyro Y calibration
i += put_float_by_index(gyro_cal_z, i, msg->payload); // gyro Z calibration
i += put_float_by_index(accel_cal_x, i, msg->payload); // accel X calibration
i += put_float_by_index(accel_cal_y, i, msg->payload); // accel Y calibration
i += put_float_by_index(accel_cal_z, i, msg->payload); // accel Z calibration
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 42);
}
/**
@ -137,14 +199,46 @@ static inline uint16_t mavlink_msg_sensor_offsets_encode(uint8_t system_id, uint
static inline void mavlink_msg_sensor_offsets_send(mavlink_channel_t chan, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
{
mavlink_message_t msg;
mavlink_msg_sensor_offsets_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[42];
_mav_put_int16_t(buf, 0, mag_ofs_x);
_mav_put_int16_t(buf, 2, mag_ofs_y);
_mav_put_int16_t(buf, 4, mag_ofs_z);
_mav_put_float(buf, 6, mag_declination);
_mav_put_int32_t(buf, 10, raw_press);
_mav_put_int32_t(buf, 14, raw_temp);
_mav_put_float(buf, 18, gyro_cal_x);
_mav_put_float(buf, 22, gyro_cal_y);
_mav_put_float(buf, 26, gyro_cal_z);
_mav_put_float(buf, 30, accel_cal_x);
_mav_put_float(buf, 34, accel_cal_y);
_mav_put_float(buf, 38, accel_cal_z);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, buf, 42);
#else
mavlink_sensor_offsets_t packet;
packet.mag_ofs_x = mag_ofs_x;
packet.mag_ofs_y = mag_ofs_y;
packet.mag_ofs_z = mag_ofs_z;
packet.mag_declination = mag_declination;
packet.raw_press = raw_press;
packet.raw_temp = raw_temp;
packet.gyro_cal_x = gyro_cal_x;
packet.gyro_cal_y = gyro_cal_y;
packet.gyro_cal_z = gyro_cal_z;
packet.accel_cal_x = accel_cal_x;
packet.accel_cal_y = accel_cal_y;
packet.accel_cal_z = accel_cal_z;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)&packet, 42);
#endif
}
#endif
// MESSAGE SENSOR_OFFSETS UNPACKING
/**
* @brief Get field mag_ofs_x from sensor_offsets message
*
@ -152,10 +246,7 @@ static inline void mavlink_msg_sensor_offsets_send(mavlink_channel_t chan, int16
*/
static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_x(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload)[0];
r.b[0] = (msg->payload)[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 0);
}
/**
@ -165,10 +256,7 @@ static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_x(const mavlink_mes
*/
static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_y(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 2);
}
/**
@ -178,10 +266,7 @@ static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_y(const mavlink_mes
*/
static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_z(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 4);
}
/**
@ -191,12 +276,7 @@ static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_z(const mavlink_mes
*/
static inline float mavlink_msg_sensor_offsets_get_mag_declination(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 6);
}
/**
@ -206,12 +286,7 @@ static inline float mavlink_msg_sensor_offsets_get_mag_declination(const mavlink
*/
static inline int32_t mavlink_msg_sensor_offsets_get_raw_press(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 10);
}
/**
@ -221,12 +296,7 @@ static inline int32_t mavlink_msg_sensor_offsets_get_raw_press(const mavlink_mes
*/
static inline int32_t mavlink_msg_sensor_offsets_get_raw_temp(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 14);
}
/**
@ -236,12 +306,7 @@ static inline int32_t mavlink_msg_sensor_offsets_get_raw_temp(const mavlink_mess
*/
static inline float mavlink_msg_sensor_offsets_get_gyro_cal_x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 18);
}
/**
@ -251,12 +316,7 @@ static inline float mavlink_msg_sensor_offsets_get_gyro_cal_x(const mavlink_mess
*/
static inline float mavlink_msg_sensor_offsets_get_gyro_cal_y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 22);
}
/**
@ -266,12 +326,7 @@ static inline float mavlink_msg_sensor_offsets_get_gyro_cal_y(const mavlink_mess
*/
static inline float mavlink_msg_sensor_offsets_get_gyro_cal_z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 26);
}
/**
@ -281,12 +336,7 @@ static inline float mavlink_msg_sensor_offsets_get_gyro_cal_z(const mavlink_mess
*/
static inline float mavlink_msg_sensor_offsets_get_accel_cal_x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 30);
}
/**
@ -296,12 +346,7 @@ static inline float mavlink_msg_sensor_offsets_get_accel_cal_x(const mavlink_mes
*/
static inline float mavlink_msg_sensor_offsets_get_accel_cal_y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 34);
}
/**
@ -311,12 +356,7 @@ static inline float mavlink_msg_sensor_offsets_get_accel_cal_y(const mavlink_mes
*/
static inline float mavlink_msg_sensor_offsets_get_accel_cal_z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 38);
}
/**
@ -327,6 +367,7 @@ static inline float mavlink_msg_sensor_offsets_get_accel_cal_z(const mavlink_mes
*/
static inline void mavlink_msg_sensor_offsets_decode(const mavlink_message_t* msg, mavlink_sensor_offsets_t* sensor_offsets)
{
#if MAVLINK_NEED_BYTE_SWAP
sensor_offsets->mag_ofs_x = mavlink_msg_sensor_offsets_get_mag_ofs_x(msg);
sensor_offsets->mag_ofs_y = mavlink_msg_sensor_offsets_get_mag_ofs_y(msg);
sensor_offsets->mag_ofs_z = mavlink_msg_sensor_offsets_get_mag_ofs_z(msg);
@ -339,4 +380,7 @@ static inline void mavlink_msg_sensor_offsets_decode(const mavlink_message_t* ms
sensor_offsets->accel_cal_x = mavlink_msg_sensor_offsets_get_accel_cal_x(msg);
sensor_offsets->accel_cal_y = mavlink_msg_sensor_offsets_get_accel_cal_y(msg);
sensor_offsets->accel_cal_z = mavlink_msg_sensor_offsets_get_accel_cal_z(msg);
#else
memcpy(sensor_offsets, _MAV_PAYLOAD(msg), 42);
#endif
}

144
libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_set_mag_offsets.h
View File

@ -2,16 +2,30 @@
#define MAVLINK_MSG_ID_SET_MAG_OFFSETS 151
typedef struct __mavlink_set_mag_offsets_t
typedef struct __mavlink_set_mag_offsets_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
int16_t mag_ofs_x; ///< magnetometer X offset
int16_t mag_ofs_y; ///< magnetometer Y offset
int16_t mag_ofs_z; ///< magnetometer Z offset
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
int16_t mag_ofs_x; ///< magnetometer X offset
int16_t mag_ofs_y; ///< magnetometer Y offset
int16_t mag_ofs_z; ///< magnetometer Z offset
} mavlink_set_mag_offsets_t;
#define MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN 8
#define MAVLINK_MSG_ID_151_LEN 8
#define MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS { \
"SET_MAG_OFFSETS", \
5, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_mag_offsets_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_set_mag_offsets_t, target_component) }, \
{ "mag_ofs_x", MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_set_mag_offsets_t, mag_ofs_x) }, \
{ "mag_ofs_y", MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_set_mag_offsets_t, mag_ofs_y) }, \
{ "mag_ofs_z", MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_set_mag_offsets_t, mag_ofs_z) }, \
} \
}
/**
@ -27,22 +41,35 @@ typedef struct __mavlink_set_mag_offsets_t
* @param mag_ofs_z magnetometer Z offset
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_int16_t(buf, 2, mag_ofs_x);
_mav_put_int16_t(buf, 4, mag_ofs_y);
_mav_put_int16_t(buf, 6, mag_ofs_z);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
#else
mavlink_set_mag_offsets_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.mag_ofs_x = mag_ofs_x;
packet.mag_ofs_y = mag_ofs_y;
packet.mag_ofs_z = mag_ofs_z;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset
i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset
i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 8);
}
/**
* @brief Pack a set_mag_offsets message
* @brief Pack a set_mag_offsets 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
@ -54,18 +81,32 @@ static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8
* @param mag_ofs_z magnetometer Z offset
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_mag_offsets_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, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
static inline uint16_t mavlink_msg_set_mag_offsets_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,int16_t mag_ofs_x,int16_t mag_ofs_y,int16_t mag_ofs_z)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_int16_t(buf, 2, mag_ofs_x);
_mav_put_int16_t(buf, 4, mag_ofs_y);
_mav_put_int16_t(buf, 6, mag_ofs_z);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
#else
mavlink_set_mag_offsets_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.mag_ofs_x = mag_ofs_x;
packet.mag_ofs_y = mag_ofs_y;
packet.mag_ofs_z = mag_ofs_z;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset
i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset
i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8);
}
/**
@ -95,14 +136,32 @@ static inline uint16_t mavlink_msg_set_mag_offsets_encode(uint8_t system_id, uin
static inline void mavlink_msg_set_mag_offsets_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
{
mavlink_message_t msg;
mavlink_msg_set_mag_offsets_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_int16_t(buf, 2, mag_ofs_x);
_mav_put_int16_t(buf, 4, mag_ofs_y);
_mav_put_int16_t(buf, 6, mag_ofs_z);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, buf, 8);
#else
mavlink_set_mag_offsets_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.mag_ofs_x = mag_ofs_x;
packet.mag_ofs_y = mag_ofs_y;
packet.mag_ofs_z = mag_ofs_z;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, (const char *)&packet, 8);
#endif
}
#endif
// MESSAGE SET_MAG_OFFSETS UNPACKING
/**
* @brief Get field target_system from set_mag_offsets message
*
@ -110,7 +169,7 @@ static inline void mavlink_msg_set_mag_offsets_send(mavlink_channel_t chan, uint
*/
static inline uint8_t mavlink_msg_set_mag_offsets_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -120,7 +179,7 @@ static inline uint8_t mavlink_msg_set_mag_offsets_get_target_system(const mavlin
*/
static inline uint8_t mavlink_msg_set_mag_offsets_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -130,10 +189,7 @@ static inline uint8_t mavlink_msg_set_mag_offsets_get_target_component(const mav
*/
static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_x(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 2);
}
/**
@ -143,10 +199,7 @@ static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_x(const mavlink_me
*/
static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_y(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 4);
}
/**
@ -156,10 +209,7 @@ static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_y(const mavlink_me
*/
static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_z(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 6);
}
/**
@ -170,9 +220,13 @@ static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_z(const mavlink_me
*/
static inline void mavlink_msg_set_mag_offsets_decode(const mavlink_message_t* msg, mavlink_set_mag_offsets_t* set_mag_offsets)
{
#if MAVLINK_NEED_BYTE_SWAP
set_mag_offsets->target_system = mavlink_msg_set_mag_offsets_get_target_system(msg);
set_mag_offsets->target_component = mavlink_msg_set_mag_offsets_get_target_component(msg);
set_mag_offsets->mag_ofs_x = mavlink_msg_set_mag_offsets_get_mag_ofs_x(msg);
set_mag_offsets->mag_ofs_y = mavlink_msg_set_mag_offsets_get_mag_ofs_y(msg);
set_mag_offsets->mag_ofs_z = mavlink_msg_set_mag_offsets_get_mag_ofs_z(msg);
#else
memcpy(set_mag_offsets, _MAV_PAYLOAD(msg), 8);
#endif
}

152
libraries/GCS_MAVLink/include/ardupilotmega/testsuite.h Normal file
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@ -0,0 +1,152 @@
/** @file
* @brief MAVLink comm protocol testsuite generated from ardupilotmega.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#ifndef ARDUPILOTMEGA_TESTSUITE_H
#define ARDUPILOTMEGA_TESTSUITE_H
#ifdef __cplusplus
extern "C" {
#endif
#ifndef MAVLINK_TEST_ALL
#define MAVLINK_TEST_ALL
static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
static void mavlink_test_ardupilotmega(uint8_t, uint8_t, mavlink_message_t *last_msg);
static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_common(system_id, component_id, last_msg);
mavlink_test_ardupilotmega(system_id, component_id, last_msg);
}
#endif
#include "../common/testsuite.h"
static void mavlink_test_sensor_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_sensor_offsets_t packet_in = {
17235,
17339,
17443,
59.0,
963497984,
963498192,
143.0,
171.0,
199.0,
227.0,
255.0,
283.0,
};
mavlink_sensor_offsets_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.mag_ofs_x = packet_in.mag_ofs_x;
packet1.mag_ofs_y = packet_in.mag_ofs_y;
packet1.mag_ofs_z = packet_in.mag_ofs_z;
packet1.mag_declination = packet_in.mag_declination;
packet1.raw_press = packet_in.raw_press;
packet1.raw_temp = packet_in.raw_temp;
packet1.gyro_cal_x = packet_in.gyro_cal_x;
packet1.gyro_cal_y = packet_in.gyro_cal_y;
packet1.gyro_cal_z = packet_in.gyro_cal_z;
packet1.accel_cal_x = packet_in.accel_cal_x;
packet1.accel_cal_y = packet_in.accel_cal_y;
packet1.accel_cal_z = packet_in.accel_cal_z;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_sensor_offsets_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_sensor_offsets_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_sensor_offsets_pack(system_id, component_id, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
mavlink_msg_sensor_offsets_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_sensor_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
mavlink_msg_sensor_offsets_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_sensor_offsets_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_sensor_offsets_send(MAVLINK_COMM_1 , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
mavlink_msg_sensor_offsets_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_set_mag_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_set_mag_offsets_t packet_in = {
5,
72,
17339,
17443,
17547,
};
mavlink_set_mag_offsets_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.target_system = packet_in.target_system;
packet1.target_component = packet_in.target_component;
packet1.mag_ofs_x = packet_in.mag_ofs_x;
packet1.mag_ofs_y = packet_in.mag_ofs_y;
packet1.mag_ofs_z = packet_in.mag_ofs_z;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_set_mag_offsets_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_set_mag_offsets_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_set_mag_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_set_mag_offsets_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_set_mag_offsets_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
mavlink_msg_set_mag_offsets_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_sensor_offsets(system_id, component_id, last_msg);
mavlink_test_set_mag_offsets(system_id, component_id, last_msg);
}
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // ARDUPILOTMEGA_TESTSUITE_H

13
libraries/GCS_MAVLink/include/ardupilotmega/version.h Normal file
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@ -0,0 +1,13 @@
/** @file
* @brief MAVLink comm protocol built from ardupilotmega.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Aug 31 15:10:04 2011"
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
#include "mavlink.h"
#endif // MAVLINK_VERSION_H

48
libraries/GCS_MAVLink/include/checksum.h
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@ -31,8 +31,8 @@ static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
/*Accumulate one byte of data into the CRC*/
uint8_t tmp;
tmp=data ^ (uint8_t)(*crcAccum &0xff);
tmp^= (tmp<<4);
tmp = data ^ (uint8_t)(*crcAccum &0xff);
tmp ^= (tmp<<4);
*crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
}
@ -54,35 +54,31 @@ static inline void crc_init(uint16_t* crcAccum)
* @param length length of the byte array
* @return the checksum over the buffer bytes
**/
static inline uint16_t crc_calculate(uint8_t* pBuffer, int length)
static inline uint16_t crc_calculate(uint8_t* pBuffer, uint16_t length)
{
// For a "message" of length bytes contained in the unsigned char array
// pointed to by pBuffer, calculate the CRC
// crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed
uint16_t crcTmp;
//uint16_t tmp;
uint8_t* pTmp;
int i;
pTmp=pBuffer;
/* init crcTmp */
crc_init(&crcTmp);
for (i = 0; i < length; i++){
crc_accumulate(*pTmp++, &crcTmp);
while (length--) {
crc_accumulate(*pBuffer++, &crcTmp);
}
return crcTmp;
}
/* This is currently not needed, as only the checksum over payload should be computed
tmp = crcTmp;
crcAccumulate((unsigned char)(~crcTmp & 0xff),&tmp);
crcAccumulate((unsigned char)((~crcTmp>>8)&0xff),&tmp);
*checkConst = tmp;
*/
return(crcTmp);
/**
* @brief Accumulate the X.25 CRC by adding an array of bytes
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new bytes to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
{
const uint8_t *p = (const uint8_t *)pBuffer;
while (length--) {
crc_accumulate(*p++, crcAccum);
}
}

120
libraries/GCS_MAVLink/include/common/common.h
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@ -1,7 +1,6 @@
/** @file
* @brief MAVLink comm protocol.
* @brief MAVLink comm protocol generated from common.xml
* @see http://qgroundcontrol.org/mavlink/
* Generated on Saturday, August 13 2011, 08:44 UTC
*/
#ifndef COMMON_H
#define COMMON_H
@ -10,11 +9,26 @@
extern "C" {
#endif
// MESSAGE LENGTHS AND CRCS
#ifndef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS {3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51, 5}
#endif
#ifndef MAVLINK_MESSAGE_CRCS
#define MAVLINK_MESSAGE_CRCS {72, 39, 190, 92, 191, 217, 104, 119, 0, 219, 60, 186, 10, 0, 0, 0, 0, 0, 0, 0, 89, 159, 162, 121, 0, 149, 222, 110, 179, 136, 66, 126, 185, 147, 112, 252, 162, 215, 229, 128, 9, 106, 101, 213, 4, 229, 21, 214, 215, 14, 206, 50, 157, 126, 108, 213, 95, 5, 127, 0, 0, 0, 57, 126, 130, 119, 193, 191, 236, 158, 143, 0, 0, 104, 123, 131, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 174, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 155, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 178, 224, 60, 106, 7}
#endif
#ifndef MAVLINK_MESSAGE_INFO
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_BOOT, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {}, MAVLINK_MESSAGE_INFO_ACTION_ACK, MAVLINK_MESSAGE_INFO_ACTION, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_NAV_MODE, {}, {}, {}, {}, {}, {}, {}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, {}, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_CONTROL_STATUS, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {}, {}, {}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_SET_ALTITUDE, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {}, {}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG}
#endif
#include "../protocol.h"
#define MAVLINK_ENABLED_COMMON
// MAVLINK VERSION
#ifndef MAVLINK_VERSION
@ -28,42 +42,57 @@ extern "C" {
// ENUM DEFINITIONS
/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */
/** @brief Commands to be executed by the MAV. They can be executed on user request,
or as part of a mission script. If the action is used in a mission, the parameter mapping
to the waypoint/mission message is as follows:
Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what
ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */
enum MAV_CMD
{
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. | Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing) | Acceptance radius in meters (if the sphere with this radius is hit, the waypoint counts as reached) | 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control. | Desired yaw angle at waypoint (rotary wing) | Latitude | Longitude | Altitude | */
MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time | Empty | Empty | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise | Desired yaw angle. | Latitude | Longitude | Altitude | */
MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns | Turns | Empty | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise | Desired yaw angle. | Latitude | Longitude | Altitude | */
MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds | Seconds (decimal) | Empty | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise | Desired yaw angle. | Latitude | Longitude | Altitude | */
MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */
MAV_CMD_NAV_LAND=21, /* Land at location | Empty | Empty | Empty | Desired yaw angle. | Latitude | Longitude | Altitude | */
MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand | Minimum pitch (if airspeed sensor present), desired pitch without sensor | Empty | Empty | Yaw angle (if magnetometer present), ignored without magnetometer | Latitude | Longitude | Altitude | */
MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. | Region of intereset mode. (see MAV_ROI enum) | Waypoint index/ target ID. (see MAV_ROI enum) | ROI index (allows a vehicle to manage multiple ROI's) | Empty | x the location of the fixed ROI (see MAV_FRAME) | y | z | */
MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. | 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning | 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid | Empty | Yaw angle at goal, in compass degrees, [0..360] | Latitude/X of goal | Longitude/Y of goal | Altitude/Z of goal | */
MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */
MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. | Delay in seconds (decimal) | Empty | Empty | Empty | Empty | Empty | Empty | */
MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. | Descent / Ascend rate (m/s) | Empty | Empty | Empty | Empty | Empty | Finish Altitude | */
MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. | Distance (meters) | Empty | Empty | Empty | Empty | Empty | Empty | */
MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. | target angle: [0-360], 0 is north | speed during yaw change:[deg per second] | direction: negative: counter clockwise, positive: clockwise [-1,1] | relative offset or absolute angle: [ 1,0] | Empty | Empty | Empty | */
MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */
MAV_CMD_DO_SET_MODE=176, /* Set system mode. | Mode, as defined by ENUM MAV_MODE | Empty | Empty | Empty | Empty | Empty | Empty | */
MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times | Sequence number | Repeat count | Empty | Empty | Empty | Empty | Empty | */
MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. | Speed type (0=Airspeed, 1=Ground Speed) | Speed (m/s, -1 indicates no change) | Throttle ( Percent, -1 indicates no change) | Empty | Empty | Empty | Empty | */
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. | Use current (1=use current location, 0=use specified location) | Empty | Empty | Empty | Latitude | Longitude | Altitude | */
MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. | Parameter number | Parameter value | Empty | Empty | Empty | Empty | Empty | */
MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. | Relay number | Setting (1=on, 0=off, others possible depending on system hardware) | Empty | Empty | Empty | Empty | Empty | */
MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. | Relay number | Cycle count | Cycle time (seconds, decimal) | Empty | Empty | Empty | Empty | */
MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. | Servo number | PWM (microseconds, 1000 to 2000 typical) | Empty | Empty | Empty | Empty | Empty | */
MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. | Servo number | PWM (microseconds, 1000 to 2000 typical) | Cycle count | Cycle time (seconds) | Empty | Empty | Empty | */
MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera capturing. | Camera ID (-1 for all) | Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw | Transmission mode: 0: video stream, >0: single images every n seconds (decimal) | Recording: 0: disabled, 1: enabled compressed, 2: enabled raw | Empty | Empty | Empty | */
MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various devices such as cameras. | Region of interest mode. (see MAV_ROI enum) | Waypoint index/ target ID. (see MAV_ROI enum) | ROI index (allows a vehicle to manage multiple cameras etc.) | Empty | x the location of the fixed ROI (see MAV_FRAME) | y | z | */
MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */
MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. | Gyro calibration: 0: no, 1: yes | Magnetometer calibration: 0: no, 1: yes | Ground pressure: 0: no, 1: yes | Radio calibration: 0: no, 1: yes | Empty | Empty | Empty | */
MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. | Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM | Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM | Reserved | Reserved | Empty | Empty | Empty | */
MAV_CMD_ENUM_END
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the waypoint counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing)| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |Empty| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Turns| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Seconds (decimal)| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the
vehicle itself. This can then be used by the vehicles control
system to control the vehicle attitude and the attitude of various
sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */
MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */
MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */
MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the
vehicle itself. This can then be used by the vehicles control
system to control the vehicle attitude and the attitude of various
devices such as cameras.
|Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */
MAV_CMD_ENUM_END=246, /* | */
};
/** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages. */
/** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a
recommendation to the autopilot software. Individual autopilots may or may not obey
the recommended messages.
*/
enum MAV_DATA_STREAM
{
MAV_DATA_STREAM_ALL=0, /* Enable all data streams | */
@ -75,10 +104,13 @@ enum MAV_DATA_STREAM
MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot | */
MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot | */
MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot | */
MAV_DATA_STREAM_ENUM_END
MAV_DATA_STREAM_ENUM_END=13, /* | */
};
/** @brief The ROI (region of interest) for the vehicle. This can be be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI). */
/** @brief The ROI (region of interest) for the vehicle. This can be
be used by the vehicle for camera/vehicle attitude alignment (see
MAV_CMD_NAV_ROI).
*/
enum MAV_ROI
{
MAV_ROI_NONE=0, /* No region of interest. | */
@ -86,12 +118,10 @@ enum MAV_ROI
MAV_ROI_WPINDEX=2, /* Point toward given waypoint. | */
MAV_ROI_LOCATION=3, /* Point toward fixed location. | */
MAV_ROI_TARGET=4, /* Point toward of given id. | */
MAV_ROI_ENUM_END
MAV_ROI_ENUM_END=5, /* | */
};
// MESSAGE DEFINITIONS
#include "./mavlink_msg_heartbeat.h"
#include "./mavlink_msg_boot.h"
#include "./mavlink_msg_system_time.h"
@ -155,19 +185,15 @@ enum MAV_ROI
#include "./mavlink_msg_vfr_hud.h"
#include "./mavlink_msg_command.h"
#include "./mavlink_msg_command_ack.h"
#include "./mavlink_msg_optical_flow.h"
#include "./mavlink_msg_object_detection_event.h"
#include "./mavlink_msg_debug_vect.h"
#include "./mavlink_msg_named_value_float.h"
#include "./mavlink_msg_named_value_int.h"
#include "./mavlink_msg_statustext.h"
#include "./mavlink_msg_debug.h"
// MESSAGE LENGTHS
#undef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#ifdef __cplusplus
}
#endif
#endif
#endif // __cplusplus
#endif // COMMON_H

22
libraries/GCS_MAVLink/include/common/mavlink.h
View File

@ -1,11 +1,27 @@
/** @file
* @brief MAVLink comm protocol.
* @brief MAVLink comm protocol built from common.xml
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Saturday, August 13 2011, 08:44 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#ifndef MAVLINK_STX
#define MAVLINK_STX 85
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN
#endif
#ifndef MAVLINK_ALIGNED_FIELDS
#define MAVLINK_ALIGNED_FIELDS 0
#endif
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 0
#endif
#include "version.h"
#include "common.h"
#endif
#endif // MAVLINK_H

109
libraries/GCS_MAVLink/include/common/mavlink_msg_action.h
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@ -2,14 +2,26 @@
#define MAVLINK_MSG_ID_ACTION 10
typedef struct __mavlink_action_t
typedef struct __mavlink_action_t
{
uint8_t target; ///< The system executing the action
uint8_t target_component; ///< The component executing the action
uint8_t action; ///< The action id
uint8_t target; ///< The system executing the action
uint8_t target_component; ///< The component executing the action
uint8_t action; ///< The action id
} mavlink_action_t;
#define MAVLINK_MSG_ID_ACTION_LEN 3
#define MAVLINK_MSG_ID_10_LEN 3
#define MAVLINK_MESSAGE_INFO_ACTION { \
"ACTION", \
3, \
{ { "target", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_action_t, target) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_action_t, target_component) }, \
{ "action", MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_action_t, action) }, \
} \
}
/**
@ -23,20 +35,31 @@ typedef struct __mavlink_action_t
* @param action The action id
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_action_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t target_component, uint8_t action)
static inline uint16_t mavlink_msg_action_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target, uint8_t target_component, uint8_t action)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, action);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
#else
mavlink_action_t packet;
packet.target = target;
packet.target_component = target_component;
packet.action = action;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_ACTION;
i += put_uint8_t_by_index(target, i, msg->payload); // The system executing the action
i += put_uint8_t_by_index(target_component, i, msg->payload); // The component executing the action
i += put_uint8_t_by_index(action, i, msg->payload); // The action id
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 3);
}
/**
* @brief Pack a action message
* @brief Pack a action 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
@ -46,16 +69,28 @@ static inline uint16_t mavlink_msg_action_pack(uint8_t system_id, uint8_t compon
* @param action The action id
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t target_component, uint8_t action)
static inline uint16_t mavlink_msg_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target,uint8_t target_component,uint8_t action)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, action);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
#else
mavlink_action_t packet;
packet.target = target;
packet.target_component = target_component;
packet.action = action;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_ACTION;
i += put_uint8_t_by_index(target, i, msg->payload); // The system executing the action
i += put_uint8_t_by_index(target_component, i, msg->payload); // The component executing the action
i += put_uint8_t_by_index(action, i, msg->payload); // The action id
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3);
}
/**
@ -83,14 +118,28 @@ static inline uint16_t mavlink_msg_action_encode(uint8_t system_id, uint8_t comp
static inline void mavlink_msg_action_send(mavlink_channel_t chan, uint8_t target, uint8_t target_component, uint8_t action)
{
mavlink_message_t msg;
mavlink_msg_action_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, target_component, action);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, action);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION, buf, 3);
#else
mavlink_action_t packet;
packet.target = target;
packet.target_component = target_component;
packet.action = action;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION, (const char *)&packet, 3);
#endif
}
#endif
// MESSAGE ACTION UNPACKING
/**
* @brief Get field target from action message
*
@ -98,7 +147,7 @@ static inline void mavlink_msg_action_send(mavlink_channel_t chan, uint8_t targe
*/
static inline uint8_t mavlink_msg_action_get_target(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -108,7 +157,7 @@ static inline uint8_t mavlink_msg_action_get_target(const mavlink_message_t* msg
*/
static inline uint8_t mavlink_msg_action_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -118,7 +167,7 @@ static inline uint8_t mavlink_msg_action_get_target_component(const mavlink_mess
*/
static inline uint8_t mavlink_msg_action_get_action(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
@ -129,7 +178,11 @@ static inline uint8_t mavlink_msg_action_get_action(const mavlink_message_t* msg
*/
static inline void mavlink_msg_action_decode(const mavlink_message_t* msg, mavlink_action_t* action)
{
#if MAVLINK_NEED_BYTE_SWAP
action->target = mavlink_msg_action_get_target(msg);
action->target_component = mavlink_msg_action_get_target_component(msg);
action->action = mavlink_msg_action_get_action(msg);
#else
memcpy(action, _MAV_PAYLOAD(msg), 3);
#endif
}

96
libraries/GCS_MAVLink/include/common/mavlink_msg_action_ack.h
View File

@ -2,13 +2,24 @@
#define MAVLINK_MSG_ID_ACTION_ACK 9
typedef struct __mavlink_action_ack_t
typedef struct __mavlink_action_ack_t
{
uint8_t action; ///< The action id
uint8_t result; ///< 0: Action DENIED, 1: Action executed
uint8_t action; ///< The action id
uint8_t result; ///< 0: Action DENIED, 1: Action executed
} mavlink_action_ack_t;
#define MAVLINK_MSG_ID_ACTION_ACK_LEN 2
#define MAVLINK_MSG_ID_9_LEN 2
#define MAVLINK_MESSAGE_INFO_ACTION_ACK { \
"ACTION_ACK", \
2, \
{ { "action", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_action_ack_t, action) }, \
{ "result", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_action_ack_t, result) }, \
} \
}
/**
@ -21,19 +32,29 @@ typedef struct __mavlink_action_ack_t
* @param result 0: Action DENIED, 1: Action executed
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_action_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t action, uint8_t result)
static inline uint16_t mavlink_msg_action_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t action, uint8_t result)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, action);
_mav_put_uint8_t(buf, 1, result);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_action_ack_t packet;
packet.action = action;
packet.result = result;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
i += put_uint8_t_by_index(action, i, msg->payload); // The action id
i += put_uint8_t_by_index(result, i, msg->payload); // 0: Action DENIED, 1: Action executed
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 2);
}
/**
* @brief Pack a action_ack message
* @brief Pack a action_ack 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
@ -42,15 +63,26 @@ static inline uint16_t mavlink_msg_action_ack_pack(uint8_t system_id, uint8_t co
* @param result 0: Action DENIED, 1: Action executed
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_action_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t action, uint8_t result)
static inline uint16_t mavlink_msg_action_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t action,uint8_t result)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, action);
_mav_put_uint8_t(buf, 1, result);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_action_ack_t packet;
packet.action = action;
packet.result = result;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
i += put_uint8_t_by_index(action, i, msg->payload); // The action id
i += put_uint8_t_by_index(result, i, msg->payload); // 0: Action DENIED, 1: Action executed
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2);
}
/**
@ -77,14 +109,26 @@ static inline uint16_t mavlink_msg_action_ack_encode(uint8_t system_id, uint8_t
static inline void mavlink_msg_action_ack_send(mavlink_channel_t chan, uint8_t action, uint8_t result)
{
mavlink_message_t msg;
mavlink_msg_action_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, action, result);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, action);
_mav_put_uint8_t(buf, 1, result);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION_ACK, buf, 2);
#else
mavlink_action_ack_t packet;
packet.action = action;
packet.result = result;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION_ACK, (const char *)&packet, 2);
#endif
}
#endif
// MESSAGE ACTION_ACK UNPACKING
/**
* @brief Get field action from action_ack message
*
@ -92,7 +136,7 @@ static inline void mavlink_msg_action_ack_send(mavlink_channel_t chan, uint8_t a
*/
static inline uint8_t mavlink_msg_action_ack_get_action(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -102,7 +146,7 @@ static inline uint8_t mavlink_msg_action_ack_get_action(const mavlink_message_t*
*/
static inline uint8_t mavlink_msg_action_ack_get_result(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -113,6 +157,10 @@ static inline uint8_t mavlink_msg_action_ack_get_result(const mavlink_message_t*
*/
static inline void mavlink_msg_action_ack_decode(const mavlink_message_t* msg, mavlink_action_ack_t* action_ack)
{
#if MAVLINK_NEED_BYTE_SWAP
action_ack->action = mavlink_msg_action_ack_get_action(msg);
action_ack->result = mavlink_msg_action_ack_get_result(msg);
#else
memcpy(action_ack, _MAV_PAYLOAD(msg), 2);
#endif
}

200
libraries/GCS_MAVLink/include/common/mavlink_msg_attitude.h
View File

@ -2,18 +2,34 @@
#define MAVLINK_MSG_ID_ATTITUDE 30
typedef struct __mavlink_attitude_t
typedef struct __mavlink_attitude_t
{
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float roll; ///< Roll angle (rad)
float pitch; ///< Pitch angle (rad)
float yaw; ///< Yaw angle (rad)
float rollspeed; ///< Roll angular speed (rad/s)
float pitchspeed; ///< Pitch angular speed (rad/s)
float yawspeed; ///< Yaw angular speed (rad/s)
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float roll; ///< Roll angle (rad)
float pitch; ///< Pitch angle (rad)
float yaw; ///< Yaw angle (rad)
float rollspeed; ///< Roll angular speed (rad/s)
float pitchspeed; ///< Pitch angular speed (rad/s)
float yawspeed; ///< Yaw angular speed (rad/s)
} mavlink_attitude_t;
#define MAVLINK_MSG_ID_ATTITUDE_LEN 32
#define MAVLINK_MSG_ID_30_LEN 32
#define MAVLINK_MESSAGE_INFO_ATTITUDE { \
"ATTITUDE", \
7, \
{ { "usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_attitude_t, usec) }, \
{ "roll", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, roll) }, \
{ "pitch", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, pitch) }, \
{ "yaw", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, yaw) }, \
{ "rollspeed", MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, rollspeed) }, \
{ "pitchspeed", MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, pitchspeed) }, \
{ "yawspeed", MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_t, yawspeed) }, \
} \
}
/**
@ -31,24 +47,39 @@ typedef struct __mavlink_attitude_t
* @param yawspeed Yaw angular speed (rad/s)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, roll);
_mav_put_float(buf, 12, pitch);
_mav_put_float(buf, 16, yaw);
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
memcpy(_MAV_PAYLOAD(msg), buf, 32);
#else
mavlink_attitude_t packet;
packet.usec = usec;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
#endif
msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad)
i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad)
i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad)
i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s)
i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s)
i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s)
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 32);
}
/**
* @brief Pack a attitude message
* @brief Pack a attitude 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
@ -62,20 +93,36 @@ static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t comp
* @param yawspeed Yaw angular speed (rad/s)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, roll);
_mav_put_float(buf, 12, pitch);
_mav_put_float(buf, 16, yaw);
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
memcpy(_MAV_PAYLOAD(msg), buf, 32);
#else
mavlink_attitude_t packet;
packet.usec = usec;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
#endif
msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad)
i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad)
i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad)
i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s)
i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s)
i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32);
}
/**
@ -107,14 +154,36 @@ static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t co
static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
{
mavlink_message_t msg;
mavlink_msg_attitude_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, roll);
_mav_put_float(buf, 12, pitch);
_mav_put_float(buf, 16, yaw);
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, 32);
#else
mavlink_attitude_t packet;
packet.usec = usec;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, 32);
#endif
}
#endif
// MESSAGE ATTITUDE UNPACKING
/**
* @brief Get field usec from attitude message
*
@ -122,16 +191,7 @@ static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint64_t us
*/
static inline uint64_t mavlink_msg_attitude_get_usec(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
@ -141,12 +201,7 @@ static inline uint64_t mavlink_msg_attitude_get_usec(const mavlink_message_t* ms
*/
static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 8);
}
/**
@ -156,12 +211,7 @@ static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 12);
}
/**
@ -171,12 +221,7 @@ static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 16);
}
/**
@ -186,12 +231,7 @@ static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 20);
}
/**
@ -201,12 +241,7 @@ static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t*
*/
static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 24);
}
/**
@ -216,12 +251,7 @@ static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t*
*/
static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 28);
}
/**
@ -232,6 +262,7 @@ static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* m
*/
static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
{
#if MAVLINK_NEED_BYTE_SWAP
attitude->usec = mavlink_msg_attitude_get_usec(msg);
attitude->roll = mavlink_msg_attitude_get_roll(msg);
attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
@ -239,4 +270,7 @@ static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mav
attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
#else
memcpy(attitude, _MAV_PAYLOAD(msg), 32);
#endif
}

88
libraries/GCS_MAVLink/include/common/mavlink_msg_auth_key.h
View File

@ -2,14 +2,23 @@
#define MAVLINK_MSG_ID_AUTH_KEY 7
typedef struct __mavlink_auth_key_t
typedef struct __mavlink_auth_key_t
{
char key[32]; ///< key
char key[32]; ///< key
} mavlink_auth_key_t;
#define MAVLINK_MSG_ID_AUTH_KEY_LEN 32
#define MAVLINK_MSG_ID_7_LEN 32
#define MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN 32
#define MAVLINK_MESSAGE_INFO_AUTH_KEY { \
"AUTH_KEY", \
1, \
{ { "key", MAVLINK_TYPE_CHAR, 32, 0, offsetof(mavlink_auth_key_t, key) }, \
} \
}
/**
* @brief Pack a auth_key message
@ -20,18 +29,27 @@ typedef struct __mavlink_auth_key_t
* @param key key
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char* key)
static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
const char *key)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_char_array(buf, 0, key, 32);
memcpy(_MAV_PAYLOAD(msg), buf, 32);
#else
mavlink_auth_key_t packet;
memcpy(packet.key, key, sizeof(char)*32);
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
#endif
msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
i += put_array_by_index((const int8_t*)key, sizeof(char)*32, i, msg->payload); // key
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 32);
}
/**
* @brief Pack a auth_key message
* @brief Pack a auth_key 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
@ -39,14 +57,24 @@ static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t comp
* @param key key
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_auth_key_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const char* key)
static inline uint16_t mavlink_msg_auth_key_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
const char *key)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_char_array(buf, 0, key, 32);
memcpy(_MAV_PAYLOAD(msg), buf, 32);
#else
mavlink_auth_key_t packet;
memcpy(packet.key, key, sizeof(char)*32);
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
#endif
msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
i += put_array_by_index((const int8_t*)key, sizeof(char)*32, i, msg->payload); // key
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32);
}
/**
@ -70,26 +98,34 @@ static inline uint16_t mavlink_msg_auth_key_encode(uint8_t system_id, uint8_t co
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char* key)
static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char *key)
{
mavlink_message_t msg;
mavlink_msg_auth_key_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, key);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_char_array(buf, 0, key, 32);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, buf, 32);
#else
mavlink_auth_key_t packet;
memcpy(packet.key, key, sizeof(char)*32);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, (const char *)&packet, 32);
#endif
}
#endif
// MESSAGE AUTH_KEY UNPACKING
/**
* @brief Get field key from auth_key message
*
* @return key
*/
static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg, char* r_data)
static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg, char *key)
{
memcpy(r_data, msg->payload, sizeof(char)*32);
return sizeof(char)*32;
return _MAV_RETURN_char_array(msg, key, 32, 0);
}
/**
@ -100,5 +136,9 @@ static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg
*/
static inline void mavlink_msg_auth_key_decode(const mavlink_message_t* msg, mavlink_auth_key_t* auth_key)
{
#if MAVLINK_NEED_BYTE_SWAP
mavlink_msg_auth_key_get_key(msg, auth_key->key);
#else
memcpy(auth_key, _MAV_PAYLOAD(msg), 32);
#endif
}

88
libraries/GCS_MAVLink/include/common/mavlink_msg_boot.h
View File

@ -2,12 +2,22 @@
#define MAVLINK_MSG_ID_BOOT 1
typedef struct __mavlink_boot_t
typedef struct __mavlink_boot_t
{
uint32_t version; ///< The onboard software version
uint32_t version; ///< The onboard software version
} mavlink_boot_t;
#define MAVLINK_MSG_ID_BOOT_LEN 4
#define MAVLINK_MSG_ID_1_LEN 4
#define MAVLINK_MESSAGE_INFO_BOOT { \
"BOOT", \
1, \
{ { "version", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_boot_t, version) }, \
} \
}
/**
@ -19,18 +29,27 @@ typedef struct __mavlink_boot_t
* @param version The onboard software version
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_boot_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t version)
static inline uint16_t mavlink_msg_boot_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t version)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint32_t(buf, 0, version);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_boot_t packet;
packet.version = version;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_BOOT;
i += put_uint32_t_by_index(version, i, msg->payload); // The onboard software version
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 4);
}
/**
* @brief Pack a boot message
* @brief Pack a boot 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
@ -38,14 +57,24 @@ static inline uint16_t mavlink_msg_boot_pack(uint8_t system_id, uint8_t componen
* @param version The onboard software version
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_boot_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t version)
static inline uint16_t mavlink_msg_boot_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t version)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint32_t(buf, 0, version);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_boot_t packet;
packet.version = version;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_BOOT;
i += put_uint32_t_by_index(version, i, msg->payload); // The onboard software version
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4);
}
/**
@ -71,14 +100,24 @@ static inline uint16_t mavlink_msg_boot_encode(uint8_t system_id, uint8_t compon
static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t version)
{
mavlink_message_t msg;
mavlink_msg_boot_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, version);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint32_t(buf, 0, version);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, buf, 4);
#else
mavlink_boot_t packet;
packet.version = version;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, (const char *)&packet, 4);
#endif
}
#endif
// MESSAGE BOOT UNPACKING
/**
* @brief Get field version from boot message
*
@ -86,12 +125,7 @@ static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t versio
*/
static inline uint32_t mavlink_msg_boot_get_version(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (uint32_t)r.i;
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
@ -102,5 +136,9 @@ static inline uint32_t mavlink_msg_boot_get_version(const mavlink_message_t* msg
*/
static inline void mavlink_msg_boot_decode(const mavlink_message_t* msg, mavlink_boot_t* boot)
{
#if MAVLINK_NEED_BYTE_SWAP
boot->version = mavlink_msg_boot_get_version(msg);
#else
memcpy(boot, _MAV_PAYLOAD(msg), 4);
#endif
}

121
libraries/GCS_MAVLink/include/common/mavlink_msg_change_operator_control.h
View File

@ -2,17 +2,29 @@
#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL 5
typedef struct __mavlink_change_operator_control_t
typedef struct __mavlink_change_operator_control_t
{
uint8_t target_system; ///< System the GCS requests control for
uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV
uint8_t version; ///< 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
char passkey[25]; ///< Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
uint8_t target_system; ///< System the GCS requests control for
uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV
uint8_t version; ///< 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
char passkey[25]; ///< Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
} mavlink_change_operator_control_t;
#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN 28
#define MAVLINK_MSG_ID_5_LEN 28
#define MAVLINK_MSG_CHANGE_OPERATOR_CONTROL_FIELD_PASSKEY_LEN 25
#define MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL { \
"CHANGE_OPERATOR_CONTROL", \
4, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_change_operator_control_t, target_system) }, \
{ "control_request", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_change_operator_control_t, control_request) }, \
{ "version", MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_change_operator_control_t, version) }, \
{ "passkey", MAVLINK_TYPE_CHAR, 25, 3, offsetof(mavlink_change_operator_control_t, passkey) }, \
} \
}
/**
* @brief Pack a change_operator_control message
@ -26,21 +38,31 @@ typedef struct __mavlink_change_operator_control_t
* @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_change_operator_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t control_request, uint8_t version, const char* passkey)
static inline uint16_t mavlink_msg_change_operator_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t control_request, uint8_t version, const char *passkey)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[28];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, control_request);
_mav_put_uint8_t(buf, 2, version);
_mav_put_char_array(buf, 3, passkey, 25);
memcpy(_MAV_PAYLOAD(msg), buf, 28);
#else
mavlink_change_operator_control_t packet;
packet.target_system = target_system;
packet.control_request = control_request;
packet.version = version;
memcpy(packet.passkey, passkey, sizeof(char)*25);
memcpy(_MAV_PAYLOAD(msg), &packet, 28);
#endif
msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System the GCS requests control for
i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV
i += put_uint8_t_by_index(version, i, msg->payload); // 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
i += put_array_by_index((const int8_t*)passkey, sizeof(char)*25, i, msg->payload); // Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 28);
}
/**
* @brief Pack a change_operator_control message
* @brief Pack a change_operator_control 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
@ -51,17 +73,28 @@ static inline uint16_t mavlink_msg_change_operator_control_pack(uint8_t system_i
* @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_change_operator_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t control_request, uint8_t version, const char* passkey)
static inline uint16_t mavlink_msg_change_operator_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target_system,uint8_t control_request,uint8_t version,const char *passkey)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[28];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, control_request);
_mav_put_uint8_t(buf, 2, version);
_mav_put_char_array(buf, 3, passkey, 25);
memcpy(_MAV_PAYLOAD(msg), buf, 28);
#else
mavlink_change_operator_control_t packet;
packet.target_system = target_system;
packet.control_request = control_request;
packet.version = version;
memcpy(packet.passkey, passkey, sizeof(char)*25);
memcpy(_MAV_PAYLOAD(msg), &packet, 28);
#endif
msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System the GCS requests control for
i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV
i += put_uint8_t_by_index(version, i, msg->payload); // 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
i += put_array_by_index((const int8_t*)passkey, sizeof(char)*25, i, msg->payload); // Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28);
}
/**
@ -88,16 +121,30 @@ static inline uint16_t mavlink_msg_change_operator_control_encode(uint8_t system
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t control_request, uint8_t version, const char* passkey)
static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t control_request, uint8_t version, const char *passkey)
{
mavlink_message_t msg;
mavlink_msg_change_operator_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, control_request, version, passkey);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[28];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, control_request);
_mav_put_uint8_t(buf, 2, version);
_mav_put_char_array(buf, 3, passkey, 25);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, buf, 28);
#else
mavlink_change_operator_control_t packet;
packet.target_system = target_system;
packet.control_request = control_request;
packet.version = version;
memcpy(packet.passkey, passkey, sizeof(char)*25);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, (const char *)&packet, 28);
#endif
}
#endif
// MESSAGE CHANGE_OPERATOR_CONTROL UNPACKING
/**
* @brief Get field target_system from change_operator_control message
*
@ -105,7 +152,7 @@ static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t ch
*/
static inline uint8_t mavlink_msg_change_operator_control_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -115,7 +162,7 @@ static inline uint8_t mavlink_msg_change_operator_control_get_target_system(cons
*/
static inline uint8_t mavlink_msg_change_operator_control_get_control_request(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -125,7 +172,7 @@ static inline uint8_t mavlink_msg_change_operator_control_get_control_request(co
*/
static inline uint8_t mavlink_msg_change_operator_control_get_version(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
@ -133,11 +180,9 @@ static inline uint8_t mavlink_msg_change_operator_control_get_version(const mavl
*
* @return Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
*/
static inline uint16_t mavlink_msg_change_operator_control_get_passkey(const mavlink_message_t* msg, char* r_data)
static inline uint16_t mavlink_msg_change_operator_control_get_passkey(const mavlink_message_t* msg, char *passkey)
{
memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t), sizeof(char)*25);
return sizeof(char)*25;
return _MAV_RETURN_char_array(msg, passkey, 25, 3);
}
/**
@ -148,8 +193,12 @@ static inline uint16_t mavlink_msg_change_operator_control_get_passkey(const mav
*/
static inline void mavlink_msg_change_operator_control_decode(const mavlink_message_t* msg, mavlink_change_operator_control_t* change_operator_control)
{
#if MAVLINK_NEED_BYTE_SWAP
change_operator_control->target_system = mavlink_msg_change_operator_control_get_target_system(msg);
change_operator_control->control_request = mavlink_msg_change_operator_control_get_control_request(msg);
change_operator_control->version = mavlink_msg_change_operator_control_get_version(msg);
mavlink_msg_change_operator_control_get_passkey(msg, change_operator_control->passkey);
#else
memcpy(change_operator_control, _MAV_PAYLOAD(msg), 28);
#endif
}

109
libraries/GCS_MAVLink/include/common/mavlink_msg_change_operator_control_ack.h
View File

@ -2,14 +2,26 @@
#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK 6
typedef struct __mavlink_change_operator_control_ack_t
typedef struct __mavlink_change_operator_control_ack_t
{
uint8_t gcs_system_id; ///< ID of the GCS this message
uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV
uint8_t ack; ///< 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
uint8_t gcs_system_id; ///< ID of the GCS this message
uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV
uint8_t ack; ///< 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
} mavlink_change_operator_control_ack_t;
#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN 3
#define MAVLINK_MSG_ID_6_LEN 3
#define MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK { \
"CHANGE_OPERATOR_CONTROL_ACK", \
3, \
{ { "gcs_system_id", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_change_operator_control_ack_t, gcs_system_id) }, \
{ "control_request", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_change_operator_control_ack_t, control_request) }, \
{ "ack", MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_change_operator_control_ack_t, ack) }, \
} \
}
/**
@ -23,20 +35,31 @@ typedef struct __mavlink_change_operator_control_ack_t
* @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_change_operator_control_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t gcs_system_id, uint8_t control_request, uint8_t ack)
static inline uint16_t mavlink_msg_change_operator_control_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t gcs_system_id, uint8_t control_request, uint8_t ack)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, gcs_system_id);
_mav_put_uint8_t(buf, 1, control_request);
_mav_put_uint8_t(buf, 2, ack);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
#else
mavlink_change_operator_control_ack_t packet;
packet.gcs_system_id = gcs_system_id;
packet.control_request = control_request;
packet.ack = ack;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
i += put_uint8_t_by_index(gcs_system_id, i, msg->payload); // ID of the GCS this message
i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV
i += put_uint8_t_by_index(ack, i, msg->payload); // 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 3);
}
/**
* @brief Pack a change_operator_control_ack message
* @brief Pack a change_operator_control_ack 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
@ -46,16 +69,28 @@ static inline uint16_t mavlink_msg_change_operator_control_ack_pack(uint8_t syst
* @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_change_operator_control_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t gcs_system_id, uint8_t control_request, uint8_t ack)
static inline uint16_t mavlink_msg_change_operator_control_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t gcs_system_id,uint8_t control_request,uint8_t ack)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, gcs_system_id);
_mav_put_uint8_t(buf, 1, control_request);
_mav_put_uint8_t(buf, 2, ack);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
#else
mavlink_change_operator_control_ack_t packet;
packet.gcs_system_id = gcs_system_id;
packet.control_request = control_request;
packet.ack = ack;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
i += put_uint8_t_by_index(gcs_system_id, i, msg->payload); // ID of the GCS this message
i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV
i += put_uint8_t_by_index(ack, i, msg->payload); // 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3);
}
/**
@ -83,14 +118,28 @@ static inline uint16_t mavlink_msg_change_operator_control_ack_encode(uint8_t sy
static inline void mavlink_msg_change_operator_control_ack_send(mavlink_channel_t chan, uint8_t gcs_system_id, uint8_t control_request, uint8_t ack)
{
mavlink_message_t msg;
mavlink_msg_change_operator_control_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, gcs_system_id, control_request, ack);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, gcs_system_id);
_mav_put_uint8_t(buf, 1, control_request);
_mav_put_uint8_t(buf, 2, ack);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, buf, 3);
#else
mavlink_change_operator_control_ack_t packet;
packet.gcs_system_id = gcs_system_id;
packet.control_request = control_request;
packet.ack = ack;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, (const char *)&packet, 3);
#endif
}
#endif
// MESSAGE CHANGE_OPERATOR_CONTROL_ACK UNPACKING
/**
* @brief Get field gcs_system_id from change_operator_control_ack message
*
@ -98,7 +147,7 @@ static inline void mavlink_msg_change_operator_control_ack_send(mavlink_channel_
*/
static inline uint8_t mavlink_msg_change_operator_control_ack_get_gcs_system_id(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -108,7 +157,7 @@ static inline uint8_t mavlink_msg_change_operator_control_ack_get_gcs_system_id(
*/
static inline uint8_t mavlink_msg_change_operator_control_ack_get_control_request(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -118,7 +167,7 @@ static inline uint8_t mavlink_msg_change_operator_control_ack_get_control_reques
*/
static inline uint8_t mavlink_msg_change_operator_control_ack_get_ack(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
@ -129,7 +178,11 @@ static inline uint8_t mavlink_msg_change_operator_control_ack_get_ack(const mavl
*/
static inline void mavlink_msg_change_operator_control_ack_decode(const mavlink_message_t* msg, mavlink_change_operator_control_ack_t* change_operator_control_ack)
{
#if MAVLINK_NEED_BYTE_SWAP
change_operator_control_ack->gcs_system_id = mavlink_msg_change_operator_control_ack_get_gcs_system_id(msg);
change_operator_control_ack->control_request = mavlink_msg_change_operator_control_ack_get_control_request(msg);
change_operator_control_ack->ack = mavlink_msg_change_operator_control_ack_get_ack(msg);
#else
memcpy(change_operator_control_ack, _MAV_PAYLOAD(msg), 3);
#endif
}

194
libraries/GCS_MAVLink/include/common/mavlink_msg_command.h
View File

@ -2,19 +2,36 @@
#define MAVLINK_MSG_ID_COMMAND 75
typedef struct __mavlink_command_t
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.
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", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_command_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_command_t, target_component) }, \
{ "command", MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_t, command) }, \
{ "confirmation", MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_command_t, confirmation) }, \
{ "param1", MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_t, param1) }, \
{ "param2", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_t, param2) }, \
{ "param3", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_t, param3) }, \
{ "param4", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_t, param4) }, \
} \
}
/**
@ -33,25 +50,41 @@ typedef struct __mavlink_command_t
* @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)
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)
{
uint16_t i = 0;
#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(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(msg), &packet, 20);
#endif
msg->msgid = MAVLINK_MSG_ID_COMMAND;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System which should execute the command
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component which should execute the command, 0 for all components
i += put_uint8_t_by_index(command, i, msg->payload); // Command ID, as defined by MAV_CMD enum.
i += put_uint8_t_by_index(confirmation, i, msg->payload); // 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
i += put_float_by_index(param1, i, msg->payload); // Parameter 1, as defined by MAV_CMD enum.
i += put_float_by_index(param2, i, msg->payload); // Parameter 2, as defined by MAV_CMD enum.
i += put_float_by_index(param3, i, msg->payload); // Parameter 3, as defined by MAV_CMD enum.
i += put_float_by_index(param4, i, msg->payload); // Parameter 4, as defined by MAV_CMD enum.
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 20);
}
/**
* @brief Pack a command message
* @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
@ -66,21 +99,38 @@ static inline uint16_t mavlink_msg_command_pack(uint8_t system_id, uint8_t compo
* @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)
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)
{
uint16_t i = 0;
#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(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(msg), &packet, 20);
#endif
msg->msgid = MAVLINK_MSG_ID_COMMAND;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System which should execute the command
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component which should execute the command, 0 for all components
i += put_uint8_t_by_index(command, i, msg->payload); // Command ID, as defined by MAV_CMD enum.
i += put_uint8_t_by_index(confirmation, i, msg->payload); // 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
i += put_float_by_index(param1, i, msg->payload); // Parameter 1, as defined by MAV_CMD enum.
i += put_float_by_index(param2, i, msg->payload); // Parameter 2, as defined by MAV_CMD enum.
i += put_float_by_index(param3, i, msg->payload); // Parameter 3, as defined by MAV_CMD enum.
i += put_float_by_index(param4, i, msg->payload); // Parameter 4, as defined by MAV_CMD enum.
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20);
}
/**
@ -113,14 +163,38 @@ static inline uint16_t mavlink_msg_command_encode(uint8_t system_id, uint8_t com
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)
{
mavlink_message_t msg;
mavlink_msg_command_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, command, confirmation, param1, param2, param3, param4);
mavlink_send_uart(chan, &msg);
#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
*
@ -128,7 +202,7 @@ static inline void mavlink_msg_command_send(mavlink_channel_t chan, uint8_t targ
*/
static inline uint8_t mavlink_msg_command_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -138,7 +212,7 @@ static inline uint8_t mavlink_msg_command_get_target_system(const mavlink_messag
*/
static inline uint8_t mavlink_msg_command_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -148,7 +222,7 @@ static inline uint8_t mavlink_msg_command_get_target_component(const mavlink_mes
*/
static inline uint8_t mavlink_msg_command_get_command(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
@ -158,7 +232,7 @@ static inline uint8_t mavlink_msg_command_get_command(const mavlink_message_t* m
*/
static inline uint8_t mavlink_msg_command_get_confirmation(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 3);
}
/**
@ -168,12 +242,7 @@ static inline uint8_t mavlink_msg_command_get_confirmation(const mavlink_message
*/
static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 4);
}
/**
@ -183,12 +252,7 @@ static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 8);
}
/**
@ -198,12 +262,7 @@ static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 12);
}
/**
@ -213,12 +272,7 @@ static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 16);
}
/**
@ -229,6 +283,7 @@ static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg)
*/
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);
@ -237,4 +292,7 @@ static inline void mavlink_msg_command_decode(const mavlink_message_t* msg, mavl
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
}

106
libraries/GCS_MAVLink/include/common/mavlink_msg_command_ack.h
View File

@ -2,13 +2,24 @@
#define MAVLINK_MSG_ID_COMMAND_ACK 76
typedef struct __mavlink_command_ack_t
typedef struct __mavlink_command_ack_t
{
float command; ///< Current airspeed in m/s
float result; ///< 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
float command; ///< Current airspeed in m/s
float result; ///< 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
} mavlink_command_ack_t;
#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 8
#define MAVLINK_MSG_ID_76_LEN 8
#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
"COMMAND_ACK", \
2, \
{ { "command", MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
{ "result", MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_ack_t, result) }, \
} \
}
/**
@ -21,19 +32,29 @@ typedef struct __mavlink_command_ack_t
* @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float command, float result)
static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float command, float result)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_float(buf, 0, command);
_mav_put_float(buf, 4, result);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
#else
mavlink_command_ack_t packet;
packet.command = command;
packet.result = result;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
i += put_float_by_index(command, i, msg->payload); // Current airspeed in m/s
i += put_float_by_index(result, i, msg->payload); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 8);
}
/**
* @brief Pack a command_ack message
* @brief Pack a command_ack 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
@ -42,15 +63,26 @@ static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t c
* @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float command, float result)
static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float command,float result)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_float(buf, 0, command);
_mav_put_float(buf, 4, result);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
#else
mavlink_command_ack_t packet;
packet.command = command;
packet.result = result;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
i += put_float_by_index(command, i, msg->payload); // Current airspeed in m/s
i += put_float_by_index(result, i, msg->payload); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8);
}
/**
@ -77,14 +109,26 @@ static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t
static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float command, float result)
{
mavlink_message_t msg;
mavlink_msg_command_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, command, result);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_float(buf, 0, command);
_mav_put_float(buf, 4, result);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, 8);
#else
mavlink_command_ack_t packet;
packet.command = command;
packet.result = result;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, 8);
#endif
}
#endif
// MESSAGE COMMAND_ACK UNPACKING
/**
* @brief Get field command from command_ack message
*
@ -92,12 +136,7 @@ static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float co
*/
static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 0);
}
/**
@ -107,12 +146,7 @@ static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t*
*/
static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 4);
}
/**
@ -123,6 +157,10 @@ static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t*
*/
static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
{
#if MAVLINK_NEED_BYTE_SWAP
command_ack->command = mavlink_msg_command_ack_get_command(msg);
command_ack->result = mavlink_msg_command_ack_get_result(msg);
#else
memcpy(command_ack, _MAV_PAYLOAD(msg), 8);
#endif
}

174
libraries/GCS_MAVLink/include/common/mavlink_msg_control_status.h
View File

@ -2,19 +2,36 @@
#define MAVLINK_MSG_ID_CONTROL_STATUS 52
typedef struct __mavlink_control_status_t
typedef struct __mavlink_control_status_t
{
uint8_t position_fix; ///< Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
uint8_t vision_fix; ///< Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
uint8_t gps_fix; ///< GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
uint8_t ahrs_health; ///< Attitude estimation health: 0: poor, 255: excellent
uint8_t control_att; ///< 0: Attitude control disabled, 1: enabled
uint8_t control_pos_xy; ///< 0: X, Y position control disabled, 1: enabled
uint8_t control_pos_z; ///< 0: Z position control disabled, 1: enabled
uint8_t control_pos_yaw; ///< 0: Yaw angle control disabled, 1: enabled
uint8_t position_fix; ///< Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
uint8_t vision_fix; ///< Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
uint8_t gps_fix; ///< GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
uint8_t ahrs_health; ///< Attitude estimation health: 0: poor, 255: excellent
uint8_t control_att; ///< 0: Attitude control disabled, 1: enabled
uint8_t control_pos_xy; ///< 0: X, Y position control disabled, 1: enabled
uint8_t control_pos_z; ///< 0: Z position control disabled, 1: enabled
uint8_t control_pos_yaw; ///< 0: Yaw angle control disabled, 1: enabled
} mavlink_control_status_t;
#define MAVLINK_MSG_ID_CONTROL_STATUS_LEN 8
#define MAVLINK_MSG_ID_52_LEN 8
#define MAVLINK_MESSAGE_INFO_CONTROL_STATUS { \
"CONTROL_STATUS", \
8, \
{ { "position_fix", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_control_status_t, position_fix) }, \
{ "vision_fix", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_control_status_t, vision_fix) }, \
{ "gps_fix", MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_control_status_t, gps_fix) }, \
{ "ahrs_health", MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_control_status_t, ahrs_health) }, \
{ "control_att", MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_control_status_t, control_att) }, \
{ "control_pos_xy", MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_control_status_t, control_pos_xy) }, \
{ "control_pos_z", MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_control_status_t, control_pos_z) }, \
{ "control_pos_yaw", MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_control_status_t, control_pos_yaw) }, \
} \
}
/**
@ -33,25 +50,41 @@ typedef struct __mavlink_control_status_t
* @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_control_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
static inline uint16_t mavlink_msg_control_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint8_t(buf, 0, position_fix);
_mav_put_uint8_t(buf, 1, vision_fix);
_mav_put_uint8_t(buf, 2, gps_fix);
_mav_put_uint8_t(buf, 3, ahrs_health);
_mav_put_uint8_t(buf, 4, control_att);
_mav_put_uint8_t(buf, 5, control_pos_xy);
_mav_put_uint8_t(buf, 6, control_pos_z);
_mav_put_uint8_t(buf, 7, control_pos_yaw);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
#else
mavlink_control_status_t packet;
packet.position_fix = position_fix;
packet.vision_fix = vision_fix;
packet.gps_fix = gps_fix;
packet.ahrs_health = ahrs_health;
packet.control_att = control_att;
packet.control_pos_xy = control_pos_xy;
packet.control_pos_z = control_pos_z;
packet.control_pos_yaw = control_pos_yaw;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
i += put_uint8_t_by_index(position_fix, i, msg->payload); // Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
i += put_uint8_t_by_index(vision_fix, i, msg->payload); // Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
i += put_uint8_t_by_index(gps_fix, i, msg->payload); // GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
i += put_uint8_t_by_index(ahrs_health, i, msg->payload); // Attitude estimation health: 0: poor, 255: excellent
i += put_uint8_t_by_index(control_att, i, msg->payload); // 0: Attitude control disabled, 1: enabled
i += put_uint8_t_by_index(control_pos_xy, i, msg->payload); // 0: X, Y position control disabled, 1: enabled
i += put_uint8_t_by_index(control_pos_z, i, msg->payload); // 0: Z position control disabled, 1: enabled
i += put_uint8_t_by_index(control_pos_yaw, i, msg->payload); // 0: Yaw angle control disabled, 1: enabled
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 8);
}
/**
* @brief Pack a control_status message
* @brief Pack a control_status 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
@ -66,21 +99,38 @@ static inline uint16_t mavlink_msg_control_status_pack(uint8_t system_id, uint8_
* @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_control_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
static inline uint16_t mavlink_msg_control_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t position_fix,uint8_t vision_fix,uint8_t gps_fix,uint8_t ahrs_health,uint8_t control_att,uint8_t control_pos_xy,uint8_t control_pos_z,uint8_t control_pos_yaw)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint8_t(buf, 0, position_fix);
_mav_put_uint8_t(buf, 1, vision_fix);
_mav_put_uint8_t(buf, 2, gps_fix);
_mav_put_uint8_t(buf, 3, ahrs_health);
_mav_put_uint8_t(buf, 4, control_att);
_mav_put_uint8_t(buf, 5, control_pos_xy);
_mav_put_uint8_t(buf, 6, control_pos_z);
_mav_put_uint8_t(buf, 7, control_pos_yaw);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
#else
mavlink_control_status_t packet;
packet.position_fix = position_fix;
packet.vision_fix = vision_fix;
packet.gps_fix = gps_fix;
packet.ahrs_health = ahrs_health;
packet.control_att = control_att;
packet.control_pos_xy = control_pos_xy;
packet.control_pos_z = control_pos_z;
packet.control_pos_yaw = control_pos_yaw;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
i += put_uint8_t_by_index(position_fix, i, msg->payload); // Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
i += put_uint8_t_by_index(vision_fix, i, msg->payload); // Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
i += put_uint8_t_by_index(gps_fix, i, msg->payload); // GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
i += put_uint8_t_by_index(ahrs_health, i, msg->payload); // Attitude estimation health: 0: poor, 255: excellent
i += put_uint8_t_by_index(control_att, i, msg->payload); // 0: Attitude control disabled, 1: enabled
i += put_uint8_t_by_index(control_pos_xy, i, msg->payload); // 0: X, Y position control disabled, 1: enabled
i += put_uint8_t_by_index(control_pos_z, i, msg->payload); // 0: Z position control disabled, 1: enabled
i += put_uint8_t_by_index(control_pos_yaw, i, msg->payload); // 0: Yaw angle control disabled, 1: enabled
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8);
}
/**
@ -113,14 +163,38 @@ static inline uint16_t mavlink_msg_control_status_encode(uint8_t system_id, uint
static inline void mavlink_msg_control_status_send(mavlink_channel_t chan, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
{
mavlink_message_t msg;
mavlink_msg_control_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint8_t(buf, 0, position_fix);
_mav_put_uint8_t(buf, 1, vision_fix);
_mav_put_uint8_t(buf, 2, gps_fix);
_mav_put_uint8_t(buf, 3, ahrs_health);
_mav_put_uint8_t(buf, 4, control_att);
_mav_put_uint8_t(buf, 5, control_pos_xy);
_mav_put_uint8_t(buf, 6, control_pos_z);
_mav_put_uint8_t(buf, 7, control_pos_yaw);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, buf, 8);
#else
mavlink_control_status_t packet;
packet.position_fix = position_fix;
packet.vision_fix = vision_fix;
packet.gps_fix = gps_fix;
packet.ahrs_health = ahrs_health;
packet.control_att = control_att;
packet.control_pos_xy = control_pos_xy;
packet.control_pos_z = control_pos_z;
packet.control_pos_yaw = control_pos_yaw;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, (const char *)&packet, 8);
#endif
}
#endif
// MESSAGE CONTROL_STATUS UNPACKING
/**
* @brief Get field position_fix from control_status message
*
@ -128,7 +202,7 @@ static inline void mavlink_msg_control_status_send(mavlink_channel_t chan, uint8
*/
static inline uint8_t mavlink_msg_control_status_get_position_fix(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -138,7 +212,7 @@ static inline uint8_t mavlink_msg_control_status_get_position_fix(const mavlink_
*/
static inline uint8_t mavlink_msg_control_status_get_vision_fix(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -148,7 +222,7 @@ static inline uint8_t mavlink_msg_control_status_get_vision_fix(const mavlink_me
*/
static inline uint8_t mavlink_msg_control_status_get_gps_fix(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
@ -158,7 +232,7 @@ static inline uint8_t mavlink_msg_control_status_get_gps_fix(const mavlink_messa
*/
static inline uint8_t mavlink_msg_control_status_get_ahrs_health(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 3);
}
/**
@ -168,7 +242,7 @@ static inline uint8_t mavlink_msg_control_status_get_ahrs_health(const mavlink_m
*/
static inline uint8_t mavlink_msg_control_status_get_control_att(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 4);
}
/**
@ -178,7 +252,7 @@ static inline uint8_t mavlink_msg_control_status_get_control_att(const mavlink_m
*/
static inline uint8_t mavlink_msg_control_status_get_control_pos_xy(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 5);
}
/**
@ -188,7 +262,7 @@ static inline uint8_t mavlink_msg_control_status_get_control_pos_xy(const mavlin
*/
static inline uint8_t mavlink_msg_control_status_get_control_pos_z(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 6);
}
/**
@ -198,7 +272,7 @@ static inline uint8_t mavlink_msg_control_status_get_control_pos_z(const mavlink
*/
static inline uint8_t mavlink_msg_control_status_get_control_pos_yaw(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 7);
}
/**
@ -209,6 +283,7 @@ static inline uint8_t mavlink_msg_control_status_get_control_pos_yaw(const mavli
*/
static inline void mavlink_msg_control_status_decode(const mavlink_message_t* msg, mavlink_control_status_t* control_status)
{
#if MAVLINK_NEED_BYTE_SWAP
control_status->position_fix = mavlink_msg_control_status_get_position_fix(msg);
control_status->vision_fix = mavlink_msg_control_status_get_vision_fix(msg);
control_status->gps_fix = mavlink_msg_control_status_get_gps_fix(msg);
@ -217,4 +292,7 @@ static inline void mavlink_msg_control_status_decode(const mavlink_message_t* ms
control_status->control_pos_xy = mavlink_msg_control_status_get_control_pos_xy(msg);
control_status->control_pos_z = mavlink_msg_control_status_get_control_pos_z(msg);
control_status->control_pos_yaw = mavlink_msg_control_status_get_control_pos_yaw(msg);
#else
memcpy(control_status, _MAV_PAYLOAD(msg), 8);
#endif
}

101
libraries/GCS_MAVLink/include/common/mavlink_msg_debug.h
View File

@ -2,13 +2,24 @@
#define MAVLINK_MSG_ID_DEBUG 255
typedef struct __mavlink_debug_t
typedef struct __mavlink_debug_t
{
uint8_t ind; ///< index of debug variable
float value; ///< DEBUG value
uint8_t ind; ///< index of debug variable
float value; ///< DEBUG value
} mavlink_debug_t;
#define MAVLINK_MSG_ID_DEBUG_LEN 5
#define MAVLINK_MSG_ID_255_LEN 5
#define MAVLINK_MESSAGE_INFO_DEBUG { \
"DEBUG", \
2, \
{ { "ind", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_debug_t, ind) }, \
{ "value", MAVLINK_TYPE_FLOAT, 0, 1, offsetof(mavlink_debug_t, value) }, \
} \
}
/**
@ -21,19 +32,29 @@ typedef struct __mavlink_debug_t
* @param value DEBUG value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t ind, float value)
static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t ind, float value)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_uint8_t(buf, 0, ind);
_mav_put_float(buf, 1, value);
memcpy(_MAV_PAYLOAD(msg), buf, 5);
#else
mavlink_debug_t packet;
packet.ind = ind;
packet.value = value;
memcpy(_MAV_PAYLOAD(msg), &packet, 5);
#endif
msg->msgid = MAVLINK_MSG_ID_DEBUG;
i += put_uint8_t_by_index(ind, i, msg->payload); // index of debug variable
i += put_float_by_index(value, i, msg->payload); // DEBUG value
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 5);
}
/**
* @brief Pack a debug message
* @brief Pack a debug 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
@ -42,15 +63,26 @@ static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t compone
* @param value DEBUG value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t ind, float value)
static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t ind,float value)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_uint8_t(buf, 0, ind);
_mav_put_float(buf, 1, value);
memcpy(_MAV_PAYLOAD(msg), buf, 5);
#else
mavlink_debug_t packet;
packet.ind = ind;
packet.value = value;
memcpy(_MAV_PAYLOAD(msg), &packet, 5);
#endif
msg->msgid = MAVLINK_MSG_ID_DEBUG;
i += put_uint8_t_by_index(ind, i, msg->payload); // index of debug variable
i += put_float_by_index(value, i, msg->payload); // DEBUG value
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5);
}
/**
@ -77,14 +109,26 @@ static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t compo
static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, float value)
{
mavlink_message_t msg;
mavlink_msg_debug_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, ind, value);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_uint8_t(buf, 0, ind);
_mav_put_float(buf, 1, value);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, 5);
#else
mavlink_debug_t packet;
packet.ind = ind;
packet.value = value;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, 5);
#endif
}
#endif
// MESSAGE DEBUG UNPACKING
/**
* @brief Get field ind from debug message
*
@ -92,7 +136,7 @@ static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, f
*/
static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -102,12 +146,7 @@ static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 1);
}
/**
@ -118,6 +157,10 @@ static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg)
*/
static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug)
{
#if MAVLINK_NEED_BYTE_SWAP
debug->ind = mavlink_msg_debug_get_ind(msg);
debug->value = mavlink_msg_debug_get_value(msg);
#else
memcpy(debug, _MAV_PAYLOAD(msg), 5);
#endif
}

158
libraries/GCS_MAVLink/include/common/mavlink_msg_debug_vect.h
View File

@ -2,18 +2,31 @@
#define MAVLINK_MSG_ID_DEBUG_VECT 251
typedef struct __mavlink_debug_vect_t
typedef struct __mavlink_debug_vect_t
{
char name[10]; ///< Name
uint64_t usec; ///< Timestamp
float x; ///< x
float y; ///< y
float z; ///< z
char name[10]; ///< Name
uint64_t usec; ///< Timestamp
float x; ///< x
float y; ///< y
float z; ///< z
} mavlink_debug_vect_t;
#define MAVLINK_MSG_ID_DEBUG_VECT_LEN 30
#define MAVLINK_MSG_ID_251_LEN 30
#define MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN 10
#define MAVLINK_MESSAGE_INFO_DEBUG_VECT { \
"DEBUG_VECT", \
5, \
{ { "name", MAVLINK_TYPE_CHAR, 10, 0, offsetof(mavlink_debug_vect_t, name) }, \
{ "usec", MAVLINK_TYPE_UINT64_T, 0, 10, offsetof(mavlink_debug_vect_t, usec) }, \
{ "x", MAVLINK_TYPE_FLOAT, 0, 18, offsetof(mavlink_debug_vect_t, x) }, \
{ "y", MAVLINK_TYPE_FLOAT, 0, 22, offsetof(mavlink_debug_vect_t, y) }, \
{ "z", MAVLINK_TYPE_FLOAT, 0, 26, offsetof(mavlink_debug_vect_t, z) }, \
} \
}
/**
* @brief Pack a debug_vect message
@ -28,22 +41,33 @@ typedef struct __mavlink_debug_vect_t
* @param z z
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char* name, uint64_t usec, float x, float y, float z)
static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
const char *name, uint64_t usec, float x, float y, float z)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[30];
_mav_put_uint64_t(buf, 10, usec);
_mav_put_float(buf, 18, x);
_mav_put_float(buf, 22, y);
_mav_put_float(buf, 26, z);
_mav_put_char_array(buf, 0, name, 10);
memcpy(_MAV_PAYLOAD(msg), buf, 30);
#else
mavlink_debug_vect_t packet;
packet.usec = usec;
packet.x = x;
packet.y = y;
packet.z = z;
memcpy(packet.name, name, sizeof(char)*10);
memcpy(_MAV_PAYLOAD(msg), &packet, 30);
#endif
msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp
i += put_float_by_index(x, i, msg->payload); // x
i += put_float_by_index(y, i, msg->payload); // y
i += put_float_by_index(z, i, msg->payload); // z
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 30);
}
/**
* @brief Pack a debug_vect message
* @brief Pack a debug_vect 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
@ -55,18 +79,30 @@ static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t co
* @param z z
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const char* name, uint64_t usec, float x, float y, float z)
static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
const char *name,uint64_t usec,float x,float y,float z)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[30];
_mav_put_uint64_t(buf, 10, usec);
_mav_put_float(buf, 18, x);
_mav_put_float(buf, 22, y);
_mav_put_float(buf, 26, z);
_mav_put_char_array(buf, 0, name, 10);
memcpy(_MAV_PAYLOAD(msg), buf, 30);
#else
mavlink_debug_vect_t packet;
packet.usec = usec;
packet.x = x;
packet.y = y;
packet.z = z;
memcpy(packet.name, name, sizeof(char)*10);
memcpy(_MAV_PAYLOAD(msg), &packet, 30);
#endif
msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp
i += put_float_by_index(x, i, msg->payload); // x
i += put_float_by_index(y, i, msg->payload); // y
i += put_float_by_index(z, i, msg->payload); // z
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 30);
}
/**
@ -94,26 +130,40 @@ static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const char* name, uint64_t usec, float x, float y, float z)
static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const char *name, uint64_t usec, float x, float y, float z)
{
mavlink_message_t msg;
mavlink_msg_debug_vect_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, name, usec, x, y, z);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[30];
_mav_put_uint64_t(buf, 10, usec);
_mav_put_float(buf, 18, x);
_mav_put_float(buf, 22, y);
_mav_put_float(buf, 26, z);
_mav_put_char_array(buf, 0, name, 10);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, 30);
#else
mavlink_debug_vect_t packet;
packet.usec = usec;
packet.x = x;
packet.y = y;
packet.z = z;
memcpy(packet.name, name, sizeof(char)*10);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)&packet, 30);
#endif
}
#endif
// MESSAGE DEBUG_VECT UNPACKING
/**
* @brief Get field name from debug_vect message
*
* @return Name
*/
static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char* r_data)
static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char *name)
{
memcpy(r_data, msg->payload, sizeof(char)*10);
return sizeof(char)*10;
return _MAV_RETURN_char_array(msg, name, 10, 0);
}
/**
@ -123,16 +173,7 @@ static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t*
*/
static inline uint64_t mavlink_msg_debug_vect_get_usec(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload+sizeof(char)*10)[0];
r.b[6] = (msg->payload+sizeof(char)*10)[1];
r.b[5] = (msg->payload+sizeof(char)*10)[2];
r.b[4] = (msg->payload+sizeof(char)*10)[3];
r.b[3] = (msg->payload+sizeof(char)*10)[4];
r.b[2] = (msg->payload+sizeof(char)*10)[5];
r.b[1] = (msg->payload+sizeof(char)*10)[6];
r.b[0] = (msg->payload+sizeof(char)*10)[7];
return (uint64_t)r.ll;
return _MAV_RETURN_uint64_t(msg, 10);
}
/**
@ -142,12 +183,7 @@ static inline uint64_t mavlink_msg_debug_vect_get_usec(const mavlink_message_t*
*/
static inline float mavlink_msg_debug_vect_get_x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[0];
r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[1];
r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[2];
r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 18);
}
/**
@ -157,12 +193,7 @@ static inline float mavlink_msg_debug_vect_get_x(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_debug_vect_get_y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 22);
}
/**
@ -172,12 +203,7 @@ static inline float mavlink_msg_debug_vect_get_y(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_debug_vect_get_z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 26);
}
/**
@ -188,9 +214,13 @@ static inline float mavlink_msg_debug_vect_get_z(const mavlink_message_t* msg)
*/
static inline void mavlink_msg_debug_vect_decode(const mavlink_message_t* msg, mavlink_debug_vect_t* debug_vect)
{
#if MAVLINK_NEED_BYTE_SWAP
mavlink_msg_debug_vect_get_name(msg, debug_vect->name);
debug_vect->usec = mavlink_msg_debug_vect_get_usec(msg);
debug_vect->x = mavlink_msg_debug_vect_get_x(msg);
debug_vect->y = mavlink_msg_debug_vect_get_y(msg);
debug_vect->z = mavlink_msg_debug_vect_get_z(msg);
#else
memcpy(debug_vect, _MAV_PAYLOAD(msg), 30);
#endif
}

200
libraries/GCS_MAVLink/include/common/mavlink_msg_global_position.h
View File

@ -2,18 +2,34 @@
#define MAVLINK_MSG_ID_GLOBAL_POSITION 33
typedef struct __mavlink_global_position_t
typedef struct __mavlink_global_position_t
{
uint64_t usec; ///< Timestamp (microseconds since unix epoch)
float lat; ///< Latitude, in degrees
float lon; ///< Longitude, in degrees
float alt; ///< Absolute altitude, in meters
float vx; ///< X Speed (in Latitude direction, positive: going north)
float vy; ///< Y Speed (in Longitude direction, positive: going east)
float vz; ///< Z Speed (in Altitude direction, positive: going up)
uint64_t usec; ///< Timestamp (microseconds since unix epoch)
float lat; ///< Latitude, in degrees
float lon; ///< Longitude, in degrees
float alt; ///< Absolute altitude, in meters
float vx; ///< X Speed (in Latitude direction, positive: going north)
float vy; ///< Y Speed (in Longitude direction, positive: going east)
float vz; ///< Z Speed (in Altitude direction, positive: going up)
} mavlink_global_position_t;
#define MAVLINK_MSG_ID_GLOBAL_POSITION_LEN 32
#define MAVLINK_MSG_ID_33_LEN 32
#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION { \
"GLOBAL_POSITION", \
7, \
{ { "usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_position_t, usec) }, \
{ "lat", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_position_t, lat) }, \
{ "lon", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_position_t, lon) }, \
{ "alt", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_position_t, alt) }, \
{ "vx", MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_position_t, vx) }, \
{ "vy", MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_position_t, vy) }, \
{ "vz", MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_position_t, vz) }, \
} \
}
/**
@ -31,24 +47,39 @@ typedef struct __mavlink_global_position_t
* @param vz Z Speed (in Altitude direction, positive: going up)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_global_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
static inline uint16_t mavlink_msg_global_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, lat);
_mav_put_float(buf, 12, lon);
_mav_put_float(buf, 16, alt);
_mav_put_float(buf, 20, vx);
_mav_put_float(buf, 24, vy);
_mav_put_float(buf, 28, vz);
memcpy(_MAV_PAYLOAD(msg), buf, 32);
#else
mavlink_global_position_t packet;
packet.usec = usec;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
#endif
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since unix epoch)
i += put_float_by_index(lat, i, msg->payload); // Latitude, in degrees
i += put_float_by_index(lon, i, msg->payload); // Longitude, in degrees
i += put_float_by_index(alt, i, msg->payload); // Absolute altitude, in meters
i += put_float_by_index(vx, i, msg->payload); // X Speed (in Latitude direction, positive: going north)
i += put_float_by_index(vy, i, msg->payload); // Y Speed (in Longitude direction, positive: going east)
i += put_float_by_index(vz, i, msg->payload); // Z Speed (in Altitude direction, positive: going up)
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 32);
}
/**
* @brief Pack a global_position message
* @brief Pack a global_position 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
@ -62,20 +93,36 @@ static inline uint16_t mavlink_msg_global_position_pack(uint8_t system_id, uint8
* @param vz Z Speed (in Altitude direction, positive: going up)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_global_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
static inline uint16_t mavlink_msg_global_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,float lat,float lon,float alt,float vx,float vy,float vz)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, lat);
_mav_put_float(buf, 12, lon);
_mav_put_float(buf, 16, alt);
_mav_put_float(buf, 20, vx);
_mav_put_float(buf, 24, vy);
_mav_put_float(buf, 28, vz);
memcpy(_MAV_PAYLOAD(msg), buf, 32);
#else
mavlink_global_position_t packet;
packet.usec = usec;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
#endif
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since unix epoch)
i += put_float_by_index(lat, i, msg->payload); // Latitude, in degrees
i += put_float_by_index(lon, i, msg->payload); // Longitude, in degrees
i += put_float_by_index(alt, i, msg->payload); // Absolute altitude, in meters
i += put_float_by_index(vx, i, msg->payload); // X Speed (in Latitude direction, positive: going north)
i += put_float_by_index(vy, i, msg->payload); // Y Speed (in Longitude direction, positive: going east)
i += put_float_by_index(vz, i, msg->payload); // Z Speed (in Altitude direction, positive: going up)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32);
}
/**
@ -107,14 +154,36 @@ static inline uint16_t mavlink_msg_global_position_encode(uint8_t system_id, uin
static inline void mavlink_msg_global_position_send(mavlink_channel_t chan, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
{
mavlink_message_t msg;
mavlink_msg_global_position_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, lat, lon, alt, vx, vy, vz);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, lat);
_mav_put_float(buf, 12, lon);
_mav_put_float(buf, 16, alt);
_mav_put_float(buf, 20, vx);
_mav_put_float(buf, 24, vy);
_mav_put_float(buf, 28, vz);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION, buf, 32);
#else
mavlink_global_position_t packet;
packet.usec = usec;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION, (const char *)&packet, 32);
#endif
}
#endif
// MESSAGE GLOBAL_POSITION UNPACKING
/**
* @brief Get field usec from global_position message
*
@ -122,16 +191,7 @@ static inline void mavlink_msg_global_position_send(mavlink_channel_t chan, uint
*/
static inline uint64_t mavlink_msg_global_position_get_usec(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
@ -141,12 +201,7 @@ static inline uint64_t mavlink_msg_global_position_get_usec(const mavlink_messag
*/
static inline float mavlink_msg_global_position_get_lat(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 8);
}
/**
@ -156,12 +211,7 @@ static inline float mavlink_msg_global_position_get_lat(const mavlink_message_t*
*/
static inline float mavlink_msg_global_position_get_lon(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 12);
}
/**
@ -171,12 +221,7 @@ static inline float mavlink_msg_global_position_get_lon(const mavlink_message_t*
*/
static inline float mavlink_msg_global_position_get_alt(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 16);
}
/**
@ -186,12 +231,7 @@ static inline float mavlink_msg_global_position_get_alt(const mavlink_message_t*
*/
static inline float mavlink_msg_global_position_get_vx(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 20);
}
/**
@ -201,12 +241,7 @@ static inline float mavlink_msg_global_position_get_vx(const mavlink_message_t*
*/
static inline float mavlink_msg_global_position_get_vy(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 24);
}
/**
@ -216,12 +251,7 @@ static inline float mavlink_msg_global_position_get_vy(const mavlink_message_t*
*/
static inline float mavlink_msg_global_position_get_vz(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 28);
}
/**
@ -232,6 +262,7 @@ static inline float mavlink_msg_global_position_get_vz(const mavlink_message_t*
*/
static inline void mavlink_msg_global_position_decode(const mavlink_message_t* msg, mavlink_global_position_t* global_position)
{
#if MAVLINK_NEED_BYTE_SWAP
global_position->usec = mavlink_msg_global_position_get_usec(msg);
global_position->lat = mavlink_msg_global_position_get_lat(msg);
global_position->lon = mavlink_msg_global_position_get_lon(msg);
@ -239,4 +270,7 @@ static inline void mavlink_msg_global_position_decode(const mavlink_message_t* m
global_position->vx = mavlink_msg_global_position_get_vx(msg);
global_position->vy = mavlink_msg_global_position_get_vy(msg);
global_position->vz = mavlink_msg_global_position_get_vz(msg);
#else
memcpy(global_position, _MAV_PAYLOAD(msg), 32);
#endif
}

172
libraries/GCS_MAVLink/include/common/mavlink_msg_global_position_int.h
View File

@ -2,17 +2,32 @@
#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 73
typedef struct __mavlink_global_position_int_t
typedef struct __mavlink_global_position_int_t
{
int32_t lat; ///< Latitude, expressed as * 1E7
int32_t lon; ///< Longitude, expressed as * 1E7
int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
int32_t lat; ///< Latitude, expressed as * 1E7
int32_t lon; ///< Longitude, expressed as * 1E7
int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
} mavlink_global_position_int_t;
#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 18
#define MAVLINK_MSG_ID_73_LEN 18
#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
"GLOBAL_POSITION_INT", \
6, \
{ { "lat", MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_global_position_int_t, lat) }, \
{ "lon", MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lon) }, \
{ "alt", MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, alt) }, \
{ "vx", MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_global_position_int_t, vx) }, \
{ "vy", MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_global_position_int_t, vy) }, \
{ "vz", MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_global_position_int_t, vz) }, \
} \
}
/**
@ -29,23 +44,37 @@ typedef struct __mavlink_global_position_int_t
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz)
static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_int32_t(buf, 0, lat);
_mav_put_int32_t(buf, 4, lon);
_mav_put_int32_t(buf, 8, alt);
_mav_put_int16_t(buf, 12, vx);
_mav_put_int16_t(buf, 14, vy);
_mav_put_int16_t(buf, 16, vz);
memcpy(_MAV_PAYLOAD(msg), buf, 18);
#else
mavlink_global_position_int_t packet;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7
i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7
i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters)
i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100
i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100
i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 18);
}
/**
* @brief Pack a global_position_int message
* @brief Pack a global_position_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
@ -58,19 +87,34 @@ static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, u
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz)
static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_int32_t(buf, 0, lat);
_mav_put_int32_t(buf, 4, lon);
_mav_put_int32_t(buf, 8, alt);
_mav_put_int16_t(buf, 12, vx);
_mav_put_int16_t(buf, 14, vy);
_mav_put_int16_t(buf, 16, vz);
memcpy(_MAV_PAYLOAD(msg), buf, 18);
#else
mavlink_global_position_int_t packet;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7
i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7
i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters)
i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100
i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100
i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18);
}
/**
@ -101,14 +145,34 @@ static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id,
static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz)
{
mavlink_message_t msg;
mavlink_msg_global_position_int_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, lat, lon, alt, vx, vy, vz);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_int32_t(buf, 0, lat);
_mav_put_int32_t(buf, 4, lon);
_mav_put_int32_t(buf, 8, alt);
_mav_put_int16_t(buf, 12, vx);
_mav_put_int16_t(buf, 14, vy);
_mav_put_int16_t(buf, 16, vz);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, 18);
#else
mavlink_global_position_int_t packet;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, 18);
#endif
}
#endif
// MESSAGE GLOBAL_POSITION_INT UNPACKING
/**
* @brief Get field lat from global_position_int message
*
@ -116,12 +180,7 @@ static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan,
*/
static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 0);
}
/**
@ -131,12 +190,7 @@ static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_mess
*/
static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(int32_t))[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 4);
}
/**
@ -146,12 +200,7 @@ static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_mess
*/
static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 8);
}
/**
@ -161,10 +210,7 @@ static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_mess
*/
static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[0];
r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 12);
}
/**
@ -174,10 +220,7 @@ static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_messa
*/
static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 14);
}
/**
@ -187,10 +230,7 @@ static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_messa
*/
static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 16);
}
/**
@ -201,10 +241,14 @@ static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_messa
*/
static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int)
{
#if MAVLINK_NEED_BYTE_SWAP
global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg);
global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg);
global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg);
global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg);
global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg);
global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg);
#else
memcpy(global_position_int, _MAV_PAYLOAD(msg), 18);
#endif
}

124
libraries/GCS_MAVLink/include/common/mavlink_msg_gps_local_origin_set.h
View File

@ -2,14 +2,26 @@
#define MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET 49
typedef struct __mavlink_gps_local_origin_set_t
typedef struct __mavlink_gps_local_origin_set_t
{
int32_t latitude; ///< Latitude (WGS84), expressed as * 1E7
int32_t longitude; ///< Longitude (WGS84), expressed as * 1E7
int32_t altitude; ///< Altitude(WGS84), expressed as * 1000
int32_t latitude; ///< Latitude (WGS84), expressed as * 1E7
int32_t longitude; ///< Longitude (WGS84), expressed as * 1E7
int32_t altitude; ///< Altitude(WGS84), expressed as * 1000
} mavlink_gps_local_origin_set_t;
#define MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET_LEN 12
#define MAVLINK_MSG_ID_49_LEN 12
#define MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET { \
"GPS_LOCAL_ORIGIN_SET", \
3, \
{ { "latitude", MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_local_origin_set_t, latitude) }, \
{ "longitude", MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_local_origin_set_t, longitude) }, \
{ "altitude", MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_local_origin_set_t, altitude) }, \
} \
}
/**
@ -23,20 +35,31 @@ typedef struct __mavlink_gps_local_origin_set_t
* @param altitude Altitude(WGS84), expressed as * 1000
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_local_origin_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int32_t latitude, int32_t longitude, int32_t altitude)
static inline uint16_t mavlink_msg_gps_local_origin_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
int32_t latitude, int32_t longitude, int32_t altitude)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
memcpy(_MAV_PAYLOAD(msg), buf, 12);
#else
mavlink_gps_local_origin_set_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET;
i += put_int32_t_by_index(latitude, i, msg->payload); // Latitude (WGS84), expressed as * 1E7
i += put_int32_t_by_index(longitude, i, msg->payload); // Longitude (WGS84), expressed as * 1E7
i += put_int32_t_by_index(altitude, i, msg->payload); // Altitude(WGS84), expressed as * 1000
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 12);
}
/**
* @brief Pack a gps_local_origin_set message
* @brief Pack a gps_local_origin_set 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
@ -46,16 +69,28 @@ static inline uint16_t mavlink_msg_gps_local_origin_set_pack(uint8_t system_id,
* @param altitude Altitude(WGS84), expressed as * 1000
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_local_origin_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int32_t latitude, int32_t longitude, int32_t altitude)
static inline uint16_t mavlink_msg_gps_local_origin_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
int32_t latitude,int32_t longitude,int32_t altitude)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
memcpy(_MAV_PAYLOAD(msg), buf, 12);
#else
mavlink_gps_local_origin_set_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET;
i += put_int32_t_by_index(latitude, i, msg->payload); // Latitude (WGS84), expressed as * 1E7
i += put_int32_t_by_index(longitude, i, msg->payload); // Longitude (WGS84), expressed as * 1E7
i += put_int32_t_by_index(altitude, i, msg->payload); // Altitude(WGS84), expressed as * 1000
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12);
}
/**
@ -83,14 +118,28 @@ static inline uint16_t mavlink_msg_gps_local_origin_set_encode(uint8_t system_id
static inline void mavlink_msg_gps_local_origin_set_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude)
{
mavlink_message_t msg;
mavlink_msg_gps_local_origin_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, latitude, longitude, altitude);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET, buf, 12);
#else
mavlink_gps_local_origin_set_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET, (const char *)&packet, 12);
#endif
}
#endif
// MESSAGE GPS_LOCAL_ORIGIN_SET UNPACKING
/**
* @brief Get field latitude from gps_local_origin_set message
*
@ -98,12 +147,7 @@ static inline void mavlink_msg_gps_local_origin_set_send(mavlink_channel_t chan,
*/
static inline int32_t mavlink_msg_gps_local_origin_set_get_latitude(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 0);
}
/**
@ -113,12 +157,7 @@ static inline int32_t mavlink_msg_gps_local_origin_set_get_latitude(const mavlin
*/
static inline int32_t mavlink_msg_gps_local_origin_set_get_longitude(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(int32_t))[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 4);
}
/**
@ -128,12 +167,7 @@ static inline int32_t mavlink_msg_gps_local_origin_set_get_longitude(const mavli
*/
static inline int32_t mavlink_msg_gps_local_origin_set_get_altitude(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 8);
}
/**
@ -144,7 +178,11 @@ static inline int32_t mavlink_msg_gps_local_origin_set_get_altitude(const mavlin
*/
static inline void mavlink_msg_gps_local_origin_set_decode(const mavlink_message_t* msg, mavlink_gps_local_origin_set_t* gps_local_origin_set)
{
#if MAVLINK_NEED_BYTE_SWAP
gps_local_origin_set->latitude = mavlink_msg_gps_local_origin_set_get_latitude(msg);
gps_local_origin_set->longitude = mavlink_msg_gps_local_origin_set_get_longitude(msg);
gps_local_origin_set->altitude = mavlink_msg_gps_local_origin_set_get_altitude(msg);
#else
memcpy(gps_local_origin_set, _MAV_PAYLOAD(msg), 12);
#endif
}

231
libraries/GCS_MAVLink/include/common/mavlink_msg_gps_raw.h
View File

@ -2,20 +2,38 @@
#define MAVLINK_MSG_ID_GPS_RAW 32
typedef struct __mavlink_gps_raw_t
typedef struct __mavlink_gps_raw_t
{
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
float lat; ///< Latitude in degrees
float lon; ///< Longitude in degrees
float alt; ///< Altitude in meters
float eph; ///< GPS HDOP
float epv; ///< GPS VDOP
float v; ///< GPS ground speed
float hdg; ///< Compass heading in degrees, 0..360 degrees
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
float lat; ///< Latitude in degrees
float lon; ///< Longitude in degrees
float alt; ///< Altitude in meters
float eph; ///< GPS HDOP
float epv; ///< GPS VDOP
float v; ///< GPS ground speed
float hdg; ///< Compass heading in degrees, 0..360 degrees
} mavlink_gps_raw_t;
#define MAVLINK_MSG_ID_GPS_RAW_LEN 37
#define MAVLINK_MSG_ID_32_LEN 37
#define MAVLINK_MESSAGE_INFO_GPS_RAW { \
"GPS_RAW", \
9, \
{ { "usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_t, usec) }, \
{ "fix_type", MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_gps_raw_t, fix_type) }, \
{ "lat", MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_gps_raw_t, lat) }, \
{ "lon", MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_gps_raw_t, lon) }, \
{ "alt", MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_gps_raw_t, alt) }, \
{ "eph", MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_gps_raw_t, eph) }, \
{ "epv", MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_gps_raw_t, epv) }, \
{ "v", MAVLINK_TYPE_FLOAT, 0, 29, offsetof(mavlink_gps_raw_t, v) }, \
{ "hdg", MAVLINK_TYPE_FLOAT, 0, 33, offsetof(mavlink_gps_raw_t, hdg) }, \
} \
}
/**
@ -35,26 +53,43 @@ typedef struct __mavlink_gps_raw_t
* @param hdg Compass heading in degrees, 0..360 degrees
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg)
static inline uint16_t mavlink_msg_gps_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[37];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_uint8_t(buf, 8, fix_type);
_mav_put_float(buf, 9, lat);
_mav_put_float(buf, 13, lon);
_mav_put_float(buf, 17, alt);
_mav_put_float(buf, 21, eph);
_mav_put_float(buf, 25, epv);
_mav_put_float(buf, 29, v);
_mav_put_float(buf, 33, hdg);
memcpy(_MAV_PAYLOAD(msg), buf, 37);
#else
mavlink_gps_raw_t packet;
packet.usec = usec;
packet.fix_type = fix_type;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.eph = eph;
packet.epv = epv;
packet.v = v;
packet.hdg = hdg;
memcpy(_MAV_PAYLOAD(msg), &packet, 37);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_RAW;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_uint8_t_by_index(fix_type, i, msg->payload); // 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
i += put_float_by_index(lat, i, msg->payload); // Latitude in degrees
i += put_float_by_index(lon, i, msg->payload); // Longitude in degrees
i += put_float_by_index(alt, i, msg->payload); // Altitude in meters
i += put_float_by_index(eph, i, msg->payload); // GPS HDOP
i += put_float_by_index(epv, i, msg->payload); // GPS VDOP
i += put_float_by_index(v, i, msg->payload); // GPS ground speed
i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 37);
}
/**
* @brief Pack a gps_raw message
* @brief Pack a gps_raw 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
@ -70,22 +105,40 @@ static inline uint16_t mavlink_msg_gps_raw_pack(uint8_t system_id, uint8_t compo
* @param hdg Compass heading in degrees, 0..360 degrees
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg)
static inline uint16_t mavlink_msg_gps_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,uint8_t fix_type,float lat,float lon,float alt,float eph,float epv,float v,float hdg)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[37];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_uint8_t(buf, 8, fix_type);
_mav_put_float(buf, 9, lat);
_mav_put_float(buf, 13, lon);
_mav_put_float(buf, 17, alt);
_mav_put_float(buf, 21, eph);
_mav_put_float(buf, 25, epv);
_mav_put_float(buf, 29, v);
_mav_put_float(buf, 33, hdg);
memcpy(_MAV_PAYLOAD(msg), buf, 37);
#else
mavlink_gps_raw_t packet;
packet.usec = usec;
packet.fix_type = fix_type;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.eph = eph;
packet.epv = epv;
packet.v = v;
packet.hdg = hdg;
memcpy(_MAV_PAYLOAD(msg), &packet, 37);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_RAW;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_uint8_t_by_index(fix_type, i, msg->payload); // 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
i += put_float_by_index(lat, i, msg->payload); // Latitude in degrees
i += put_float_by_index(lon, i, msg->payload); // Longitude in degrees
i += put_float_by_index(alt, i, msg->payload); // Altitude in meters
i += put_float_by_index(eph, i, msg->payload); // GPS HDOP
i += put_float_by_index(epv, i, msg->payload); // GPS VDOP
i += put_float_by_index(v, i, msg->payload); // GPS ground speed
i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 37);
}
/**
@ -119,14 +172,40 @@ static inline uint16_t mavlink_msg_gps_raw_encode(uint8_t system_id, uint8_t com
static inline void mavlink_msg_gps_raw_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg)
{
mavlink_message_t msg;
mavlink_msg_gps_raw_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, fix_type, lat, lon, alt, eph, epv, v, hdg);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[37];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_uint8_t(buf, 8, fix_type);
_mav_put_float(buf, 9, lat);
_mav_put_float(buf, 13, lon);
_mav_put_float(buf, 17, alt);
_mav_put_float(buf, 21, eph);
_mav_put_float(buf, 25, epv);
_mav_put_float(buf, 29, v);
_mav_put_float(buf, 33, hdg);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, buf, 37);
#else
mavlink_gps_raw_t packet;
packet.usec = usec;
packet.fix_type = fix_type;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.eph = eph;
packet.epv = epv;
packet.v = v;
packet.hdg = hdg;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, (const char *)&packet, 37);
#endif
}
#endif
// MESSAGE GPS_RAW UNPACKING
/**
* @brief Get field usec from gps_raw message
*
@ -134,16 +213,7 @@ static inline void mavlink_msg_gps_raw_send(mavlink_channel_t chan, uint64_t use
*/
static inline uint64_t mavlink_msg_gps_raw_get_usec(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
@ -153,7 +223,7 @@ static inline uint64_t mavlink_msg_gps_raw_get_usec(const mavlink_message_t* msg
*/
static inline uint8_t mavlink_msg_gps_raw_get_fix_type(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint64_t))[0];
return _MAV_RETURN_uint8_t(msg, 8);
}
/**
@ -163,12 +233,7 @@ static inline uint8_t mavlink_msg_gps_raw_get_fix_type(const mavlink_message_t*
*/
static inline float mavlink_msg_gps_raw_get_lat(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 9);
}
/**
@ -178,12 +243,7 @@ static inline float mavlink_msg_gps_raw_get_lat(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_gps_raw_get_lon(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 13);
}
/**
@ -193,12 +253,7 @@ static inline float mavlink_msg_gps_raw_get_lon(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_gps_raw_get_alt(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 17);
}
/**
@ -208,12 +263,7 @@ static inline float mavlink_msg_gps_raw_get_alt(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_gps_raw_get_eph(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 21);
}
/**
@ -223,12 +273,7 @@ static inline float mavlink_msg_gps_raw_get_eph(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_gps_raw_get_epv(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 25);
}
/**
@ -238,12 +283,7 @@ static inline float mavlink_msg_gps_raw_get_epv(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_gps_raw_get_v(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 29);
}
/**
@ -253,12 +293,7 @@ static inline float mavlink_msg_gps_raw_get_v(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_gps_raw_get_hdg(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 33);
}
/**
@ -269,6 +304,7 @@ static inline float mavlink_msg_gps_raw_get_hdg(const mavlink_message_t* msg)
*/
static inline void mavlink_msg_gps_raw_decode(const mavlink_message_t* msg, mavlink_gps_raw_t* gps_raw)
{
#if MAVLINK_NEED_BYTE_SWAP
gps_raw->usec = mavlink_msg_gps_raw_get_usec(msg);
gps_raw->fix_type = mavlink_msg_gps_raw_get_fix_type(msg);
gps_raw->lat = mavlink_msg_gps_raw_get_lat(msg);
@ -278,4 +314,7 @@ static inline void mavlink_msg_gps_raw_decode(const mavlink_message_t* msg, mavl
gps_raw->epv = mavlink_msg_gps_raw_get_epv(msg);
gps_raw->v = mavlink_msg_gps_raw_get_v(msg);
gps_raw->hdg = mavlink_msg_gps_raw_get_hdg(msg);
#else
memcpy(gps_raw, _MAV_PAYLOAD(msg), 37);
#endif
}

231
libraries/GCS_MAVLink/include/common/mavlink_msg_gps_raw_int.h
View File

@ -2,20 +2,38 @@
#define MAVLINK_MSG_ID_GPS_RAW_INT 25
typedef struct __mavlink_gps_raw_int_t
typedef struct __mavlink_gps_raw_int_t
{
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
int32_t lat; ///< Latitude in 1E7 degrees
int32_t lon; ///< Longitude in 1E7 degrees
int32_t alt; ///< Altitude in 1E3 meters (millimeters)
float eph; ///< GPS HDOP
float epv; ///< GPS VDOP
float v; ///< GPS ground speed (m/s)
float hdg; ///< Compass heading in degrees, 0..360 degrees
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
int32_t lat; ///< Latitude in 1E7 degrees
int32_t lon; ///< Longitude in 1E7 degrees
int32_t alt; ///< Altitude in 1E3 meters (millimeters)
float eph; ///< GPS HDOP
float epv; ///< GPS VDOP
float v; ///< GPS ground speed (m/s)
float hdg; ///< Compass heading in degrees, 0..360 degrees
} mavlink_gps_raw_int_t;
#define MAVLINK_MSG_ID_GPS_RAW_INT_LEN 37
#define MAVLINK_MSG_ID_25_LEN 37
#define MAVLINK_MESSAGE_INFO_GPS_RAW_INT { \
"GPS_RAW_INT", \
9, \
{ { "usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_int_t, usec) }, \
{ "fix_type", MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_gps_raw_int_t, fix_type) }, \
{ "lat", MAVLINK_TYPE_INT32_T, 0, 9, offsetof(mavlink_gps_raw_int_t, lat) }, \
{ "lon", MAVLINK_TYPE_INT32_T, 0, 13, offsetof(mavlink_gps_raw_int_t, lon) }, \
{ "alt", MAVLINK_TYPE_INT32_T, 0, 17, offsetof(mavlink_gps_raw_int_t, alt) }, \
{ "eph", MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_gps_raw_int_t, eph) }, \
{ "epv", MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_gps_raw_int_t, epv) }, \
{ "v", MAVLINK_TYPE_FLOAT, 0, 29, offsetof(mavlink_gps_raw_int_t, v) }, \
{ "hdg", MAVLINK_TYPE_FLOAT, 0, 33, offsetof(mavlink_gps_raw_int_t, hdg) }, \
} \
}
/**
@ -35,26 +53,43 @@ typedef struct __mavlink_gps_raw_int_t
* @param hdg Compass heading in degrees, 0..360 degrees
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, float eph, float epv, float v, float hdg)
static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, float eph, float epv, float v, float hdg)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[37];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_uint8_t(buf, 8, fix_type);
_mav_put_int32_t(buf, 9, lat);
_mav_put_int32_t(buf, 13, lon);
_mav_put_int32_t(buf, 17, alt);
_mav_put_float(buf, 21, eph);
_mav_put_float(buf, 25, epv);
_mav_put_float(buf, 29, v);
_mav_put_float(buf, 33, hdg);
memcpy(_MAV_PAYLOAD(msg), buf, 37);
#else
mavlink_gps_raw_int_t packet;
packet.usec = usec;
packet.fix_type = fix_type;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.eph = eph;
packet.epv = epv;
packet.v = v;
packet.hdg = hdg;
memcpy(_MAV_PAYLOAD(msg), &packet, 37);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_uint8_t_by_index(fix_type, i, msg->payload); // 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
i += put_int32_t_by_index(lat, i, msg->payload); // Latitude in 1E7 degrees
i += put_int32_t_by_index(lon, i, msg->payload); // Longitude in 1E7 degrees
i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in 1E3 meters (millimeters)
i += put_float_by_index(eph, i, msg->payload); // GPS HDOP
i += put_float_by_index(epv, i, msg->payload); // GPS VDOP
i += put_float_by_index(v, i, msg->payload); // GPS ground speed (m/s)
i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 37);
}
/**
* @brief Pack a gps_raw_int message
* @brief Pack a gps_raw_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
@ -70,22 +105,40 @@ static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t c
* @param hdg Compass heading in degrees, 0..360 degrees
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_raw_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, float eph, float epv, float v, float hdg)
static inline uint16_t mavlink_msg_gps_raw_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,float eph,float epv,float v,float hdg)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[37];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_uint8_t(buf, 8, fix_type);
_mav_put_int32_t(buf, 9, lat);
_mav_put_int32_t(buf, 13, lon);
_mav_put_int32_t(buf, 17, alt);
_mav_put_float(buf, 21, eph);
_mav_put_float(buf, 25, epv);
_mav_put_float(buf, 29, v);
_mav_put_float(buf, 33, hdg);
memcpy(_MAV_PAYLOAD(msg), buf, 37);
#else
mavlink_gps_raw_int_t packet;
packet.usec = usec;
packet.fix_type = fix_type;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.eph = eph;
packet.epv = epv;
packet.v = v;
packet.hdg = hdg;
memcpy(_MAV_PAYLOAD(msg), &packet, 37);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_uint8_t_by_index(fix_type, i, msg->payload); // 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
i += put_int32_t_by_index(lat, i, msg->payload); // Latitude in 1E7 degrees
i += put_int32_t_by_index(lon, i, msg->payload); // Longitude in 1E7 degrees
i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in 1E3 meters (millimeters)
i += put_float_by_index(eph, i, msg->payload); // GPS HDOP
i += put_float_by_index(epv, i, msg->payload); // GPS VDOP
i += put_float_by_index(v, i, msg->payload); // GPS ground speed (m/s)
i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 37);
}
/**
@ -119,14 +172,40 @@ static inline uint16_t mavlink_msg_gps_raw_int_encode(uint8_t system_id, uint8_t
static inline void mavlink_msg_gps_raw_int_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, float eph, float epv, float v, float hdg)
{
mavlink_message_t msg;
mavlink_msg_gps_raw_int_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, fix_type, lat, lon, alt, eph, epv, v, hdg);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[37];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_uint8_t(buf, 8, fix_type);
_mav_put_int32_t(buf, 9, lat);
_mav_put_int32_t(buf, 13, lon);
_mav_put_int32_t(buf, 17, alt);
_mav_put_float(buf, 21, eph);
_mav_put_float(buf, 25, epv);
_mav_put_float(buf, 29, v);
_mav_put_float(buf, 33, hdg);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, 37);
#else
mavlink_gps_raw_int_t packet;
packet.usec = usec;
packet.fix_type = fix_type;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.eph = eph;
packet.epv = epv;
packet.v = v;
packet.hdg = hdg;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)&packet, 37);
#endif
}
#endif
// MESSAGE GPS_RAW_INT UNPACKING
/**
* @brief Get field usec from gps_raw_int message
*
@ -134,16 +213,7 @@ static inline void mavlink_msg_gps_raw_int_send(mavlink_channel_t chan, uint64_t
*/
static inline uint64_t mavlink_msg_gps_raw_int_get_usec(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
@ -153,7 +223,7 @@ static inline uint64_t mavlink_msg_gps_raw_int_get_usec(const mavlink_message_t*
*/
static inline uint8_t mavlink_msg_gps_raw_int_get_fix_type(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint64_t))[0];
return _MAV_RETURN_uint8_t(msg, 8);
}
/**
@ -163,12 +233,7 @@ static inline uint8_t mavlink_msg_gps_raw_int_get_fix_type(const mavlink_message
*/
static inline int32_t mavlink_msg_gps_raw_int_get_lat(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 9);
}
/**
@ -178,12 +243,7 @@ static inline int32_t mavlink_msg_gps_raw_int_get_lat(const mavlink_message_t* m
*/
static inline int32_t mavlink_msg_gps_raw_int_get_lon(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t))[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 13);
}
/**
@ -193,12 +253,7 @@ static inline int32_t mavlink_msg_gps_raw_int_get_lon(const mavlink_message_t* m
*/
static inline int32_t mavlink_msg_gps_raw_int_get_alt(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 17);
}
/**
@ -208,12 +263,7 @@ static inline int32_t mavlink_msg_gps_raw_int_get_alt(const mavlink_message_t* m
*/
static inline float mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 21);
}
/**
@ -223,12 +273,7 @@ static inline float mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t* msg
*/
static inline float mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 25);
}
/**
@ -238,12 +283,7 @@ static inline float mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t* msg
*/
static inline float mavlink_msg_gps_raw_int_get_v(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 29);
}
/**
@ -253,12 +293,7 @@ static inline float mavlink_msg_gps_raw_int_get_v(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_gps_raw_int_get_hdg(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 33);
}
/**
@ -269,6 +304,7 @@ static inline float mavlink_msg_gps_raw_int_get_hdg(const mavlink_message_t* msg
*/
static inline void mavlink_msg_gps_raw_int_decode(const mavlink_message_t* msg, mavlink_gps_raw_int_t* gps_raw_int)
{
#if MAVLINK_NEED_BYTE_SWAP
gps_raw_int->usec = mavlink_msg_gps_raw_int_get_usec(msg);
gps_raw_int->fix_type = mavlink_msg_gps_raw_int_get_fix_type(msg);
gps_raw_int->lat = mavlink_msg_gps_raw_int_get_lat(msg);
@ -278,4 +314,7 @@ static inline void mavlink_msg_gps_raw_int_decode(const mavlink_message_t* msg,
gps_raw_int->epv = mavlink_msg_gps_raw_int_get_epv(msg);
gps_raw_int->v = mavlink_msg_gps_raw_int_get_v(msg);
gps_raw_int->hdg = mavlink_msg_gps_raw_int_get_hdg(msg);
#else
memcpy(gps_raw_int, _MAV_PAYLOAD(msg), 37);
#endif
}

150
libraries/GCS_MAVLink/include/common/mavlink_msg_gps_set_global_origin.h
View File

@ -2,16 +2,30 @@
#define MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN 48
typedef struct __mavlink_gps_set_global_origin_t
typedef struct __mavlink_gps_set_global_origin_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
int32_t latitude; ///< global position * 1E7
int32_t longitude; ///< global position * 1E7
int32_t altitude; ///< global position * 1000
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
int32_t latitude; ///< global position * 1E7
int32_t longitude; ///< global position * 1E7
int32_t altitude; ///< global position * 1000
} mavlink_gps_set_global_origin_t;
#define MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN_LEN 14
#define MAVLINK_MSG_ID_48_LEN 14
#define MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN { \
"GPS_SET_GLOBAL_ORIGIN", \
5, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_set_global_origin_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_gps_set_global_origin_t, target_component) }, \
{ "latitude", MAVLINK_TYPE_INT32_T, 0, 2, offsetof(mavlink_gps_set_global_origin_t, latitude) }, \
{ "longitude", MAVLINK_TYPE_INT32_T, 0, 6, offsetof(mavlink_gps_set_global_origin_t, longitude) }, \
{ "altitude", MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_gps_set_global_origin_t, altitude) }, \
} \
}
/**
@ -27,22 +41,35 @@ typedef struct __mavlink_gps_set_global_origin_t
* @param altitude global position * 1000
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_set_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, int32_t latitude, int32_t longitude, int32_t altitude)
static inline uint16_t mavlink_msg_gps_set_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, int32_t latitude, int32_t longitude, int32_t altitude)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[14];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_int32_t(buf, 2, latitude);
_mav_put_int32_t(buf, 6, longitude);
_mav_put_int32_t(buf, 10, altitude);
memcpy(_MAV_PAYLOAD(msg), buf, 14);
#else
mavlink_gps_set_global_origin_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_int32_t_by_index(latitude, i, msg->payload); // global position * 1E7
i += put_int32_t_by_index(longitude, i, msg->payload); // global position * 1E7
i += put_int32_t_by_index(altitude, i, msg->payload); // global position * 1000
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 14);
}
/**
* @brief Pack a gps_set_global_origin message
* @brief Pack a gps_set_global_origin 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
@ -54,18 +81,32 @@ static inline uint16_t mavlink_msg_gps_set_global_origin_pack(uint8_t system_id,
* @param altitude global position * 1000
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_set_global_origin_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, int32_t latitude, int32_t longitude, int32_t altitude)
static inline uint16_t mavlink_msg_gps_set_global_origin_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,int32_t latitude,int32_t longitude,int32_t altitude)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[14];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_int32_t(buf, 2, latitude);
_mav_put_int32_t(buf, 6, longitude);
_mav_put_int32_t(buf, 10, altitude);
memcpy(_MAV_PAYLOAD(msg), buf, 14);
#else
mavlink_gps_set_global_origin_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_int32_t_by_index(latitude, i, msg->payload); // global position * 1E7
i += put_int32_t_by_index(longitude, i, msg->payload); // global position * 1E7
i += put_int32_t_by_index(altitude, i, msg->payload); // global position * 1000
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14);
}
/**
@ -95,14 +136,32 @@ static inline uint16_t mavlink_msg_gps_set_global_origin_encode(uint8_t system_i
static inline void mavlink_msg_gps_set_global_origin_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t latitude, int32_t longitude, int32_t altitude)
{
mavlink_message_t msg;
mavlink_msg_gps_set_global_origin_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, latitude, longitude, altitude);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[14];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_int32_t(buf, 2, latitude);
_mav_put_int32_t(buf, 6, longitude);
_mav_put_int32_t(buf, 10, altitude);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN, buf, 14);
#else
mavlink_gps_set_global_origin_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN, (const char *)&packet, 14);
#endif
}
#endif
// MESSAGE GPS_SET_GLOBAL_ORIGIN UNPACKING
/**
* @brief Get field target_system from gps_set_global_origin message
*
@ -110,7 +169,7 @@ static inline void mavlink_msg_gps_set_global_origin_send(mavlink_channel_t chan
*/
static inline uint8_t mavlink_msg_gps_set_global_origin_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -120,7 +179,7 @@ static inline uint8_t mavlink_msg_gps_set_global_origin_get_target_system(const
*/
static inline uint8_t mavlink_msg_gps_set_global_origin_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -130,12 +189,7 @@ static inline uint8_t mavlink_msg_gps_set_global_origin_get_target_component(con
*/
static inline int32_t mavlink_msg_gps_set_global_origin_get_latitude(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 2);
}
/**
@ -145,12 +199,7 @@ static inline int32_t mavlink_msg_gps_set_global_origin_get_latitude(const mavli
*/
static inline int32_t mavlink_msg_gps_set_global_origin_get_longitude(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t))[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 6);
}
/**
@ -160,12 +209,7 @@ static inline int32_t mavlink_msg_gps_set_global_origin_get_longitude(const mavl
*/
static inline int32_t mavlink_msg_gps_set_global_origin_get_altitude(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 10);
}
/**
@ -176,9 +220,13 @@ static inline int32_t mavlink_msg_gps_set_global_origin_get_altitude(const mavli
*/
static inline void mavlink_msg_gps_set_global_origin_decode(const mavlink_message_t* msg, mavlink_gps_set_global_origin_t* gps_set_global_origin)
{
#if MAVLINK_NEED_BYTE_SWAP
gps_set_global_origin->target_system = mavlink_msg_gps_set_global_origin_get_target_system(msg);
gps_set_global_origin->target_component = mavlink_msg_gps_set_global_origin_get_target_component(msg);
gps_set_global_origin->latitude = mavlink_msg_gps_set_global_origin_get_latitude(msg);
gps_set_global_origin->longitude = mavlink_msg_gps_set_global_origin_get_longitude(msg);
gps_set_global_origin->altitude = mavlink_msg_gps_set_global_origin_get_altitude(msg);
#else
memcpy(gps_set_global_origin, _MAV_PAYLOAD(msg), 14);
#endif
}

163
libraries/GCS_MAVLink/include/common/mavlink_msg_gps_status.h
View File

@ -2,23 +2,37 @@
#define MAVLINK_MSG_ID_GPS_STATUS 27
typedef struct __mavlink_gps_status_t
typedef struct __mavlink_gps_status_t
{
uint8_t satellites_visible; ///< Number of satellites visible
int8_t satellite_prn[20]; ///< Global satellite ID
int8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization
int8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite
int8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg.
int8_t satellite_snr[20]; ///< Signal to noise ratio of satellite
uint8_t satellites_visible; ///< Number of satellites visible
int8_t satellite_prn[20]; ///< Global satellite ID
int8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization
int8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite
int8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg.
int8_t satellite_snr[20]; ///< Signal to noise ratio of satellite
} mavlink_gps_status_t;
#define MAVLINK_MSG_ID_GPS_STATUS_LEN 101
#define MAVLINK_MSG_ID_27_LEN 101
#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20
#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20
#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20
#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20
#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20
#define MAVLINK_MESSAGE_INFO_GPS_STATUS { \
"GPS_STATUS", \
6, \
{ { "satellites_visible", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_status_t, satellites_visible) }, \
{ "satellite_prn", MAVLINK_TYPE_INT8_T, 20, 1, offsetof(mavlink_gps_status_t, satellite_prn) }, \
{ "satellite_used", MAVLINK_TYPE_INT8_T, 20, 21, offsetof(mavlink_gps_status_t, satellite_used) }, \
{ "satellite_elevation", MAVLINK_TYPE_INT8_T, 20, 41, offsetof(mavlink_gps_status_t, satellite_elevation) }, \
{ "satellite_azimuth", MAVLINK_TYPE_INT8_T, 20, 61, offsetof(mavlink_gps_status_t, satellite_azimuth) }, \
{ "satellite_snr", MAVLINK_TYPE_INT8_T, 20, 81, offsetof(mavlink_gps_status_t, satellite_snr) }, \
} \
}
/**
* @brief Pack a gps_status message
@ -34,23 +48,35 @@ typedef struct __mavlink_gps_status_t
* @param satellite_snr Signal to noise ratio of satellite
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t satellites_visible, const int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr)
static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t satellites_visible, const int8_t *satellite_prn, const int8_t *satellite_used, const int8_t *satellite_elevation, const int8_t *satellite_azimuth, const int8_t *satellite_snr)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[101];
_mav_put_uint8_t(buf, 0, satellites_visible);
_mav_put_int8_t_array(buf, 1, satellite_prn, 20);
_mav_put_int8_t_array(buf, 21, satellite_used, 20);
_mav_put_int8_t_array(buf, 41, satellite_elevation, 20);
_mav_put_int8_t_array(buf, 61, satellite_azimuth, 20);
_mav_put_int8_t_array(buf, 81, satellite_snr, 20);
memcpy(_MAV_PAYLOAD(msg), buf, 101);
#else
mavlink_gps_status_t packet;
packet.satellites_visible = satellites_visible;
memcpy(packet.satellite_prn, satellite_prn, sizeof(int8_t)*20);
memcpy(packet.satellite_used, satellite_used, sizeof(int8_t)*20);
memcpy(packet.satellite_elevation, satellite_elevation, sizeof(int8_t)*20);
memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(int8_t)*20);
memcpy(packet.satellite_snr, satellite_snr, sizeof(int8_t)*20);
memcpy(_MAV_PAYLOAD(msg), &packet, 101);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
i += put_uint8_t_by_index(satellites_visible, i, msg->payload); // Number of satellites visible
i += put_array_by_index(satellite_prn, 20, i, msg->payload); // Global satellite ID
i += put_array_by_index(satellite_used, 20, i, msg->payload); // 0: Satellite not used, 1: used for localization
i += put_array_by_index(satellite_elevation, 20, i, msg->payload); // Elevation (0: right on top of receiver, 90: on the horizon) of satellite
i += put_array_by_index(satellite_azimuth, 20, i, msg->payload); // Direction of satellite, 0: 0 deg, 255: 360 deg.
i += put_array_by_index(satellite_snr, 20, i, msg->payload); // Signal to noise ratio of satellite
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 101);
}
/**
* @brief Pack a gps_status message
* @brief Pack a gps_status 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
@ -63,19 +89,32 @@ static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t co
* @param satellite_snr Signal to noise ratio of satellite
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t satellites_visible, const int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr)
static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t satellites_visible,const int8_t *satellite_prn,const int8_t *satellite_used,const int8_t *satellite_elevation,const int8_t *satellite_azimuth,const int8_t *satellite_snr)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[101];
_mav_put_uint8_t(buf, 0, satellites_visible);
_mav_put_int8_t_array(buf, 1, satellite_prn, 20);
_mav_put_int8_t_array(buf, 21, satellite_used, 20);
_mav_put_int8_t_array(buf, 41, satellite_elevation, 20);
_mav_put_int8_t_array(buf, 61, satellite_azimuth, 20);
_mav_put_int8_t_array(buf, 81, satellite_snr, 20);
memcpy(_MAV_PAYLOAD(msg), buf, 101);
#else
mavlink_gps_status_t packet;
packet.satellites_visible = satellites_visible;
memcpy(packet.satellite_prn, satellite_prn, sizeof(int8_t)*20);
memcpy(packet.satellite_used, satellite_used, sizeof(int8_t)*20);
memcpy(packet.satellite_elevation, satellite_elevation, sizeof(int8_t)*20);
memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(int8_t)*20);
memcpy(packet.satellite_snr, satellite_snr, sizeof(int8_t)*20);
memcpy(_MAV_PAYLOAD(msg), &packet, 101);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
i += put_uint8_t_by_index(satellites_visible, i, msg->payload); // Number of satellites visible
i += put_array_by_index(satellite_prn, 20, i, msg->payload); // Global satellite ID
i += put_array_by_index(satellite_used, 20, i, msg->payload); // 0: Satellite not used, 1: used for localization
i += put_array_by_index(satellite_elevation, 20, i, msg->payload); // Elevation (0: right on top of receiver, 90: on the horizon) of satellite
i += put_array_by_index(satellite_azimuth, 20, i, msg->payload); // Direction of satellite, 0: 0 deg, 255: 360 deg.
i += put_array_by_index(satellite_snr, 20, i, msg->payload); // Signal to noise ratio of satellite
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 101);
}
/**
@ -104,16 +143,34 @@ static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr)
static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const int8_t *satellite_prn, const int8_t *satellite_used, const int8_t *satellite_elevation, const int8_t *satellite_azimuth, const int8_t *satellite_snr)
{
mavlink_message_t msg;
mavlink_msg_gps_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[101];
_mav_put_uint8_t(buf, 0, satellites_visible);
_mav_put_int8_t_array(buf, 1, satellite_prn, 20);
_mav_put_int8_t_array(buf, 21, satellite_used, 20);
_mav_put_int8_t_array(buf, 41, satellite_elevation, 20);
_mav_put_int8_t_array(buf, 61, satellite_azimuth, 20);
_mav_put_int8_t_array(buf, 81, satellite_snr, 20);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, 101);
#else
mavlink_gps_status_t packet;
packet.satellites_visible = satellites_visible;
memcpy(packet.satellite_prn, satellite_prn, sizeof(int8_t)*20);
memcpy(packet.satellite_used, satellite_used, sizeof(int8_t)*20);
memcpy(packet.satellite_elevation, satellite_elevation, sizeof(int8_t)*20);
memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(int8_t)*20);
memcpy(packet.satellite_snr, satellite_snr, sizeof(int8_t)*20);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)&packet, 101);
#endif
}
#endif
// MESSAGE GPS_STATUS UNPACKING
/**
* @brief Get field satellites_visible from gps_status message
*
@ -121,7 +178,7 @@ static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t s
*/
static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -129,11 +186,9 @@ static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlin
*
* @return Global satellite ID
*/
static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, int8_t* r_data)
static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, int8_t *satellite_prn)
{
memcpy(r_data, msg->payload+sizeof(uint8_t), 20);
return 20;
return _MAV_RETURN_int8_t_array(msg, satellite_prn, 20, 1);
}
/**
@ -141,11 +196,9 @@ static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_me
*
* @return 0: Satellite not used, 1: used for localization
*/
static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, int8_t* r_data)
static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, int8_t *satellite_used)
{
memcpy(r_data, msg->payload+sizeof(uint8_t)+20, 20);
return 20;
return _MAV_RETURN_int8_t_array(msg, satellite_used, 20, 21);
}
/**
@ -153,11 +206,9 @@ static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_m
*
* @return Elevation (0: right on top of receiver, 90: on the horizon) of satellite
*/
static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, int8_t* r_data)
static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, int8_t *satellite_elevation)
{
memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20, 20);
return 20;
return _MAV_RETURN_int8_t_array(msg, satellite_elevation, 20, 41);
}
/**
@ -165,11 +216,9 @@ static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavl
*
* @return Direction of satellite, 0: 0 deg, 255: 360 deg.
*/
static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, int8_t* r_data)
static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, int8_t *satellite_azimuth)
{
memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20+20, 20);
return 20;
return _MAV_RETURN_int8_t_array(msg, satellite_azimuth, 20, 61);
}
/**
@ -177,11 +226,9 @@ static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlin
*
* @return Signal to noise ratio of satellite
*/
static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, int8_t* r_data)
static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, int8_t *satellite_snr)
{
memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20+20+20, 20);
return 20;
return _MAV_RETURN_int8_t_array(msg, satellite_snr, 20, 81);
}
/**
@ -192,10 +239,14 @@ static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_me
*/
static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status)
{
#if MAVLINK_NEED_BYTE_SWAP
gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg);
mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn);
mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used);
mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation);
mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth);
mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr);
#else
memcpy(gps_status, _MAV_PAYLOAD(msg), 101);
#endif
}

109
libraries/GCS_MAVLink/include/common/mavlink_msg_heartbeat.h
View File

@ -2,14 +2,26 @@
#define MAVLINK_MSG_ID_HEARTBEAT 0
typedef struct __mavlink_heartbeat_t
typedef struct __mavlink_heartbeat_t
{
uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
uint8_t mavlink_version; ///< MAVLink version
uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
uint8_t mavlink_version; ///< MAVLink version
} mavlink_heartbeat_t;
#define MAVLINK_MSG_ID_HEARTBEAT_LEN 3
#define MAVLINK_MSG_ID_0_LEN 3
#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
"HEARTBEAT", \
3, \
{ { "type", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_heartbeat_t, type) }, \
{ "autopilot", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_heartbeat_t, autopilot) }, \
{ "mavlink_version", MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
} \
}
/**
@ -22,20 +34,31 @@ typedef struct __mavlink_heartbeat_t
* @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot)
static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t type, uint8_t autopilot)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, autopilot);
_mav_put_uint8_t(buf, 2, 2);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
#else
mavlink_heartbeat_t packet;
packet.type = type;
packet.autopilot = autopilot;
packet.mavlink_version = 2;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 3);
}
/**
* @brief Pack a heartbeat message
* @brief Pack a heartbeat 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
@ -44,16 +67,28 @@ static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t com
* @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint8_t autopilot)
static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t type,uint8_t autopilot)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, autopilot);
_mav_put_uint8_t(buf, 2, 2);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
#else
mavlink_heartbeat_t packet;
packet.type = type;
packet.autopilot = autopilot;
packet.mavlink_version = 2;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3);
}
/**
@ -80,14 +115,28 @@ static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t c
static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot)
{
mavlink_message_t msg;
mavlink_msg_heartbeat_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, autopilot);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, autopilot);
_mav_put_uint8_t(buf, 2, 2);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, 3);
#else
mavlink_heartbeat_t packet;
packet.type = type;
packet.autopilot = autopilot;
packet.mavlink_version = 2;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, 3);
#endif
}
#endif
// MESSAGE HEARTBEAT UNPACKING
/**
* @brief Get field type from heartbeat message
*
@ -95,7 +144,7 @@ static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t ty
*/
static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -105,7 +154,7 @@ static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* ms
*/
static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -115,7 +164,7 @@ static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_
*/
static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
@ -126,7 +175,11 @@ static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_me
*/
static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
{
#if MAVLINK_NEED_BYTE_SWAP
heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
#else
memcpy(heartbeat, _MAV_PAYLOAD(msg), 3);
#endif
}

190
libraries/GCS_MAVLink/include/common/mavlink_msg_hil_controls.h
View File

@ -2,18 +2,34 @@
#define MAVLINK_MSG_ID_HIL_CONTROLS 68
typedef struct __mavlink_hil_controls_t
typedef struct __mavlink_hil_controls_t
{
uint64_t time_us; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float roll_ailerons; ///< Control output -3 .. 1
float pitch_elevator; ///< Control output -1 .. 1
float yaw_rudder; ///< Control output -1 .. 1
float throttle; ///< Throttle 0 .. 1
uint8_t mode; ///< System mode (MAV_MODE)
uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE)
uint64_t time_us; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float roll_ailerons; ///< Control output -3 .. 1
float pitch_elevator; ///< Control output -1 .. 1
float yaw_rudder; ///< Control output -1 .. 1
float throttle; ///< Throttle 0 .. 1
uint8_t mode; ///< System mode (MAV_MODE)
uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE)
} mavlink_hil_controls_t;
#define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 26
#define MAVLINK_MSG_ID_68_LEN 26
#define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \
"HIL_CONTROLS", \
7, \
{ { "time_us", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_us) }, \
{ "roll_ailerons", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \
{ "pitch_elevator", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \
{ "yaw_rudder", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \
{ "throttle", MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \
{ "mode", MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_hil_controls_t, mode) }, \
{ "nav_mode", MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_hil_controls_t, nav_mode) }, \
} \
}
/**
@ -31,24 +47,39 @@ typedef struct __mavlink_hil_controls_t
* @param nav_mode Navigation mode (MAV_NAV_MODE)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[26];
_mav_put_uint64_t(buf, 0, time_us);
_mav_put_float(buf, 8, roll_ailerons);
_mav_put_float(buf, 12, pitch_elevator);
_mav_put_float(buf, 16, yaw_rudder);
_mav_put_float(buf, 20, throttle);
_mav_put_uint8_t(buf, 24, mode);
_mav_put_uint8_t(buf, 25, nav_mode);
memcpy(_MAV_PAYLOAD(msg), buf, 26);
#else
mavlink_hil_controls_t packet;
packet.time_us = time_us;
packet.roll_ailerons = roll_ailerons;
packet.pitch_elevator = pitch_elevator;
packet.yaw_rudder = yaw_rudder;
packet.throttle = throttle;
packet.mode = mode;
packet.nav_mode = nav_mode;
memcpy(_MAV_PAYLOAD(msg), &packet, 26);
#endif
msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_float_by_index(roll_ailerons, i, msg->payload); // Control output -3 .. 1
i += put_float_by_index(pitch_elevator, i, msg->payload); // Control output -1 .. 1
i += put_float_by_index(yaw_rudder, i, msg->payload); // Control output -1 .. 1
i += put_float_by_index(throttle, i, msg->payload); // Throttle 0 .. 1
i += put_uint8_t_by_index(mode, i, msg->payload); // System mode (MAV_MODE)
i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode (MAV_NAV_MODE)
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 26);
}
/**
* @brief Pack a hil_controls message
* @brief Pack a hil_controls 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
@ -62,20 +93,36 @@ static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t
* @param nav_mode Navigation mode (MAV_NAV_MODE)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_us,float roll_ailerons,float pitch_elevator,float yaw_rudder,float throttle,uint8_t mode,uint8_t nav_mode)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[26];
_mav_put_uint64_t(buf, 0, time_us);
_mav_put_float(buf, 8, roll_ailerons);
_mav_put_float(buf, 12, pitch_elevator);
_mav_put_float(buf, 16, yaw_rudder);
_mav_put_float(buf, 20, throttle);
_mav_put_uint8_t(buf, 24, mode);
_mav_put_uint8_t(buf, 25, nav_mode);
memcpy(_MAV_PAYLOAD(msg), buf, 26);
#else
mavlink_hil_controls_t packet;
packet.time_us = time_us;
packet.roll_ailerons = roll_ailerons;
packet.pitch_elevator = pitch_elevator;
packet.yaw_rudder = yaw_rudder;
packet.throttle = throttle;
packet.mode = mode;
packet.nav_mode = nav_mode;
memcpy(_MAV_PAYLOAD(msg), &packet, 26);
#endif
msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_float_by_index(roll_ailerons, i, msg->payload); // Control output -3 .. 1
i += put_float_by_index(pitch_elevator, i, msg->payload); // Control output -1 .. 1
i += put_float_by_index(yaw_rudder, i, msg->payload); // Control output -1 .. 1
i += put_float_by_index(throttle, i, msg->payload); // Throttle 0 .. 1
i += put_uint8_t_by_index(mode, i, msg->payload); // System mode (MAV_MODE)
i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode (MAV_NAV_MODE)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26);
}
/**
@ -107,14 +154,36 @@ static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_
static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
{
mavlink_message_t msg;
mavlink_msg_hil_controls_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[26];
_mav_put_uint64_t(buf, 0, time_us);
_mav_put_float(buf, 8, roll_ailerons);
_mav_put_float(buf, 12, pitch_elevator);
_mav_put_float(buf, 16, yaw_rudder);
_mav_put_float(buf, 20, throttle);
_mav_put_uint8_t(buf, 24, mode);
_mav_put_uint8_t(buf, 25, nav_mode);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, 26);
#else
mavlink_hil_controls_t packet;
packet.time_us = time_us;
packet.roll_ailerons = roll_ailerons;
packet.pitch_elevator = pitch_elevator;
packet.yaw_rudder = yaw_rudder;
packet.throttle = throttle;
packet.mode = mode;
packet.nav_mode = nav_mode;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, 26);
#endif
}
#endif
// MESSAGE HIL_CONTROLS UNPACKING
/**
* @brief Get field time_us from hil_controls message
*
@ -122,16 +191,7 @@ static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_
*/
static inline uint64_t mavlink_msg_hil_controls_get_time_us(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
@ -141,12 +201,7 @@ static inline uint64_t mavlink_msg_hil_controls_get_time_us(const mavlink_messag
*/
static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 8);
}
/**
@ -156,12 +211,7 @@ static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_mes
*/
static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 12);
}
/**
@ -171,12 +221,7 @@ static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_me
*/
static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 16);
}
/**
@ -186,12 +231,7 @@ static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_messag
*/
static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 20);
}
/**
@ -201,7 +241,7 @@ static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_
*/
static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
return _MAV_RETURN_uint8_t(msg, 24);
}
/**
@ -211,7 +251,7 @@ static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t*
*/
static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 25);
}
/**
@ -222,6 +262,7 @@ static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_messag
*/
static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls)
{
#if MAVLINK_NEED_BYTE_SWAP
hil_controls->time_us = mavlink_msg_hil_controls_get_time_us(msg);
hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg);
hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg);
@ -229,4 +270,7 @@ static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg,
hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg);
hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg);
hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg);
#else
memcpy(hil_controls, _MAV_PAYLOAD(msg), 26);
#endif
}

350
libraries/GCS_MAVLink/include/common/mavlink_msg_hil_state.h
View File

@ -2,27 +2,52 @@
#define MAVLINK_MSG_ID_HIL_STATE 67
typedef struct __mavlink_hil_state_t
typedef struct __mavlink_hil_state_t
{
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float roll; ///< Roll angle (rad)
float pitch; ///< Pitch angle (rad)
float yaw; ///< Yaw angle (rad)
float rollspeed; ///< Roll angular speed (rad/s)
float pitchspeed; ///< Pitch angular speed (rad/s)
float yawspeed; ///< Yaw angular speed (rad/s)
int32_t lat; ///< Latitude, expressed as * 1E7
int32_t lon; ///< Longitude, expressed as * 1E7
int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
int16_t xacc; ///< X acceleration (mg)
int16_t yacc; ///< Y acceleration (mg)
int16_t zacc; ///< Z acceleration (mg)
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float roll; ///< Roll angle (rad)
float pitch; ///< Pitch angle (rad)
float yaw; ///< Yaw angle (rad)
float rollspeed; ///< Roll angular speed (rad/s)
float pitchspeed; ///< Pitch angular speed (rad/s)
float yawspeed; ///< Yaw angular speed (rad/s)
int32_t lat; ///< Latitude, expressed as * 1E7
int32_t lon; ///< Longitude, expressed as * 1E7
int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
int16_t xacc; ///< X acceleration (mg)
int16_t yacc; ///< Y acceleration (mg)
int16_t zacc; ///< Z acceleration (mg)
} mavlink_hil_state_t;
#define MAVLINK_MSG_ID_HIL_STATE_LEN 56
#define MAVLINK_MSG_ID_67_LEN 56
#define MAVLINK_MESSAGE_INFO_HIL_STATE { \
"HIL_STATE", \
16, \
{ { "usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, usec) }, \
{ "roll", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
{ "pitch", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
{ "yaw", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
{ "rollspeed", MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
{ "pitchspeed", MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
{ "yawspeed", MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
{ "lat", MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
{ "lon", MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
{ "alt", MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
{ "vx", MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
{ "vy", MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
{ "vz", MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
{ "xacc", MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
{ "yacc", MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
{ "zacc", MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
} \
}
/**
@ -49,33 +74,57 @@ typedef struct __mavlink_hil_state_t
* @param zacc Z acceleration (mg)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[56];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, roll);
_mav_put_float(buf, 12, pitch);
_mav_put_float(buf, 16, yaw);
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
_mav_put_int32_t(buf, 32, lat);
_mav_put_int32_t(buf, 36, lon);
_mav_put_int32_t(buf, 40, alt);
_mav_put_int16_t(buf, 44, vx);
_mav_put_int16_t(buf, 46, vy);
_mav_put_int16_t(buf, 48, vz);
_mav_put_int16_t(buf, 50, xacc);
_mav_put_int16_t(buf, 52, yacc);
_mav_put_int16_t(buf, 54, zacc);
memcpy(_MAV_PAYLOAD(msg), buf, 56);
#else
mavlink_hil_state_t packet;
packet.usec = usec;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
memcpy(_MAV_PAYLOAD(msg), &packet, 56);
#endif
msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad)
i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad)
i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad)
i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s)
i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s)
i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s)
i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7
i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7
i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters)
i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100
i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100
i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100
i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg)
i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg)
i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg)
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 56);
}
/**
* @brief Pack a hil_state message
* @brief Pack a hil_state 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
@ -98,29 +147,54 @@ static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t com
* @param zacc Z acceleration (mg)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[56];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, roll);
_mav_put_float(buf, 12, pitch);
_mav_put_float(buf, 16, yaw);
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
_mav_put_int32_t(buf, 32, lat);
_mav_put_int32_t(buf, 36, lon);
_mav_put_int32_t(buf, 40, alt);
_mav_put_int16_t(buf, 44, vx);
_mav_put_int16_t(buf, 46, vy);
_mav_put_int16_t(buf, 48, vz);
_mav_put_int16_t(buf, 50, xacc);
_mav_put_int16_t(buf, 52, yacc);
_mav_put_int16_t(buf, 54, zacc);
memcpy(_MAV_PAYLOAD(msg), buf, 56);
#else
mavlink_hil_state_t packet;
packet.usec = usec;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
memcpy(_MAV_PAYLOAD(msg), &packet, 56);
#endif
msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad)
i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad)
i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad)
i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s)
i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s)
i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s)
i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7
i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7
i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters)
i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100
i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100
i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100
i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg)
i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg)
i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 56);
}
/**
@ -161,14 +235,54 @@ static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t c
static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
{
mavlink_message_t msg;
mavlink_msg_hil_state_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[56];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, roll);
_mav_put_float(buf, 12, pitch);
_mav_put_float(buf, 16, yaw);
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
_mav_put_int32_t(buf, 32, lat);
_mav_put_int32_t(buf, 36, lon);
_mav_put_int32_t(buf, 40, alt);
_mav_put_int16_t(buf, 44, vx);
_mav_put_int16_t(buf, 46, vy);
_mav_put_int16_t(buf, 48, vz);
_mav_put_int16_t(buf, 50, xacc);
_mav_put_int16_t(buf, 52, yacc);
_mav_put_int16_t(buf, 54, zacc);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, 56);
#else
mavlink_hil_state_t packet;
packet.usec = usec;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, 56);
#endif
}
#endif
// MESSAGE HIL_STATE UNPACKING
/**
* @brief Get field usec from hil_state message
*
@ -176,16 +290,7 @@ static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t u
*/
static inline uint64_t mavlink_msg_hil_state_get_usec(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
@ -195,12 +300,7 @@ static inline uint64_t mavlink_msg_hil_state_get_usec(const mavlink_message_t* m
*/
static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 8);
}
/**
@ -210,12 +310,7 @@ static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 12);
}
/**
@ -225,12 +320,7 @@ static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg
*/
static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 16);
}
/**
@ -240,12 +330,7 @@ static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 20);
}
/**
@ -255,12 +340,7 @@ static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t*
*/
static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 24);
}
/**
@ -270,12 +350,7 @@ static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t
*/
static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 28);
}
/**
@ -285,12 +360,7 @@ static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t*
*/
static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 32);
}
/**
@ -300,12 +370,7 @@ static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg
*/
static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 36);
}
/**
@ -315,12 +380,7 @@ static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg
*/
static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 40);
}
/**
@ -330,10 +390,7 @@ static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg
*/
static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 44);
}
/**
@ -343,10 +400,7 @@ static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg)
*/
static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 46);
}
/**
@ -356,10 +410,7 @@ static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg)
*/
static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 48);
}
/**
@ -369,10 +420,7 @@ static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg)
*/
static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 50);
}
/**
@ -382,10 +430,7 @@ static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* ms
*/
static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 52);
}
/**
@ -395,10 +440,7 @@ static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* ms
*/
static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 54);
}
/**
@ -409,6 +451,7 @@ static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* ms
*/
static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state)
{
#if MAVLINK_NEED_BYTE_SWAP
hil_state->usec = mavlink_msg_hil_state_get_usec(msg);
hil_state->roll = mavlink_msg_hil_state_get_roll(msg);
hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg);
@ -425,4 +468,7 @@ static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, ma
hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg);
hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg);
hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg);
#else
memcpy(hil_state, _MAV_PAYLOAD(msg), 56);
#endif
}

200
libraries/GCS_MAVLink/include/common/mavlink_msg_local_position.h
View File

@ -2,18 +2,34 @@
#define MAVLINK_MSG_ID_LOCAL_POSITION 31
typedef struct __mavlink_local_position_t
typedef struct __mavlink_local_position_t
{
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float x; ///< X Position
float y; ///< Y Position
float z; ///< Z Position
float vx; ///< X Speed
float vy; ///< Y Speed
float vz; ///< Z Speed
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float x; ///< X Position
float y; ///< Y Position
float z; ///< Z Position
float vx; ///< X Speed
float vy; ///< Y Speed
float vz; ///< Z Speed
} mavlink_local_position_t;
#define MAVLINK_MSG_ID_LOCAL_POSITION_LEN 32
#define MAVLINK_MSG_ID_31_LEN 32
#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION { \
"LOCAL_POSITION", \
7, \
{ { "usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_local_position_t, usec) }, \
{ "x", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_t, x) }, \
{ "y", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_t, y) }, \
{ "z", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_t, z) }, \
{ "vx", MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_t, vx) }, \
{ "vy", MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_t, vy) }, \
{ "vz", MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_local_position_t, vz) }, \
} \
}
/**
@ -31,24 +47,39 @@ typedef struct __mavlink_local_position_t
* @param vz Z Speed
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_local_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float vx, float vy, float vz)
static inline uint16_t mavlink_msg_local_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, float x, float y, float z, float vx, float vy, float vz)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_float(buf, 20, vx);
_mav_put_float(buf, 24, vy);
_mav_put_float(buf, 28, vz);
memcpy(_MAV_PAYLOAD(msg), buf, 32);
#else
mavlink_local_position_t packet;
packet.usec = usec;
packet.x = x;
packet.y = y;
packet.z = z;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
#endif
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_float_by_index(x, i, msg->payload); // X Position
i += put_float_by_index(y, i, msg->payload); // Y Position
i += put_float_by_index(z, i, msg->payload); // Z Position
i += put_float_by_index(vx, i, msg->payload); // X Speed
i += put_float_by_index(vy, i, msg->payload); // Y Speed
i += put_float_by_index(vz, i, msg->payload); // Z Speed
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 32);
}
/**
* @brief Pack a local_position message
* @brief Pack a local_position 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
@ -62,20 +93,36 @@ static inline uint16_t mavlink_msg_local_position_pack(uint8_t system_id, uint8_
* @param vz Z Speed
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_local_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float vx, float vy, float vz)
static inline uint16_t mavlink_msg_local_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,float x,float y,float z,float vx,float vy,float vz)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_float(buf, 20, vx);
_mav_put_float(buf, 24, vy);
_mav_put_float(buf, 28, vz);
memcpy(_MAV_PAYLOAD(msg), buf, 32);
#else
mavlink_local_position_t packet;
packet.usec = usec;
packet.x = x;
packet.y = y;
packet.z = z;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
#endif
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_float_by_index(x, i, msg->payload); // X Position
i += put_float_by_index(y, i, msg->payload); // Y Position
i += put_float_by_index(z, i, msg->payload); // Z Position
i += put_float_by_index(vx, i, msg->payload); // X Speed
i += put_float_by_index(vy, i, msg->payload); // Y Speed
i += put_float_by_index(vz, i, msg->payload); // Z Speed
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32);
}
/**
@ -107,14 +154,36 @@ static inline uint16_t mavlink_msg_local_position_encode(uint8_t system_id, uint
static inline void mavlink_msg_local_position_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float vx, float vy, float vz)
{
mavlink_message_t msg;
mavlink_msg_local_position_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z, vx, vy, vz);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_float(buf, 20, vx);
_mav_put_float(buf, 24, vy);
_mav_put_float(buf, 28, vz);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION, buf, 32);
#else
mavlink_local_position_t packet;
packet.usec = usec;
packet.x = x;
packet.y = y;
packet.z = z;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION, (const char *)&packet, 32);
#endif
}
#endif
// MESSAGE LOCAL_POSITION UNPACKING
/**
* @brief Get field usec from local_position message
*
@ -122,16 +191,7 @@ static inline void mavlink_msg_local_position_send(mavlink_channel_t chan, uint6
*/
static inline uint64_t mavlink_msg_local_position_get_usec(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
@ -141,12 +201,7 @@ static inline uint64_t mavlink_msg_local_position_get_usec(const mavlink_message
*/
static inline float mavlink_msg_local_position_get_x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 8);
}
/**
@ -156,12 +211,7 @@ static inline float mavlink_msg_local_position_get_x(const mavlink_message_t* ms
*/
static inline float mavlink_msg_local_position_get_y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 12);
}
/**
@ -171,12 +221,7 @@ static inline float mavlink_msg_local_position_get_y(const mavlink_message_t* ms
*/
static inline float mavlink_msg_local_position_get_z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 16);
}
/**
@ -186,12 +231,7 @@ static inline float mavlink_msg_local_position_get_z(const mavlink_message_t* ms
*/
static inline float mavlink_msg_local_position_get_vx(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 20);
}
/**
@ -201,12 +241,7 @@ static inline float mavlink_msg_local_position_get_vx(const mavlink_message_t* m
*/
static inline float mavlink_msg_local_position_get_vy(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 24);
}
/**
@ -216,12 +251,7 @@ static inline float mavlink_msg_local_position_get_vy(const mavlink_message_t* m
*/
static inline float mavlink_msg_local_position_get_vz(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 28);
}
/**
@ -232,6 +262,7 @@ static inline float mavlink_msg_local_position_get_vz(const mavlink_message_t* m
*/
static inline void mavlink_msg_local_position_decode(const mavlink_message_t* msg, mavlink_local_position_t* local_position)
{
#if MAVLINK_NEED_BYTE_SWAP
local_position->usec = mavlink_msg_local_position_get_usec(msg);
local_position->x = mavlink_msg_local_position_get_x(msg);
local_position->y = mavlink_msg_local_position_get_y(msg);
@ -239,4 +270,7 @@ static inline void mavlink_msg_local_position_decode(const mavlink_message_t* ms
local_position->vx = mavlink_msg_local_position_get_vx(msg);
local_position->vy = mavlink_msg_local_position_get_vy(msg);
local_position->vz = mavlink_msg_local_position_get_vz(msg);
#else
memcpy(local_position, _MAV_PAYLOAD(msg), 32);
#endif
}

142
libraries/GCS_MAVLink/include/common/mavlink_msg_local_position_setpoint.h
View File

@ -2,15 +2,28 @@
#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT 51
typedef struct __mavlink_local_position_setpoint_t
typedef struct __mavlink_local_position_setpoint_t
{
float x; ///< x position
float y; ///< y position
float z; ///< z position
float yaw; ///< Desired yaw angle
float x; ///< x position
float y; ///< y position
float z; ///< z position
float yaw; ///< Desired yaw angle
} mavlink_local_position_setpoint_t;
#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN 16
#define MAVLINK_MSG_ID_51_LEN 16
#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT { \
"LOCAL_POSITION_SETPOINT", \
4, \
{ { "x", MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_local_position_setpoint_t, x) }, \
{ "y", MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_setpoint_t, y) }, \
{ "z", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_setpoint_t, z) }, \
{ "yaw", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_setpoint_t, yaw) }, \
} \
}
/**
@ -25,21 +38,33 @@ typedef struct __mavlink_local_position_setpoint_t
* @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, float x, float y, float z, float yaw)
static inline uint16_t mavlink_msg_local_position_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float x, float y, float z, float yaw)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_float(buf, 0, x);
_mav_put_float(buf, 4, y);
_mav_put_float(buf, 8, z);
_mav_put_float(buf, 12, yaw);
memcpy(_MAV_PAYLOAD(msg), buf, 16);
#else
mavlink_local_position_setpoint_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
#endif
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
i += put_float_by_index(x, i, msg->payload); // x position
i += put_float_by_index(y, i, msg->payload); // y position
i += put_float_by_index(z, i, msg->payload); // z position
i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 16);
}
/**
* @brief Pack a local_position_setpoint message
* @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 was sent over
@ -50,17 +75,30 @@ static inline uint16_t mavlink_msg_local_position_setpoint_pack(uint8_t system_i
* @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, float x, float y, float z, float yaw)
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,
float x,float y,float z,float yaw)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_float(buf, 0, x);
_mav_put_float(buf, 4, y);
_mav_put_float(buf, 8, z);
_mav_put_float(buf, 12, yaw);
memcpy(_MAV_PAYLOAD(msg), buf, 16);
#else
mavlink_local_position_setpoint_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
#endif
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
i += put_float_by_index(x, i, msg->payload); // x position
i += put_float_by_index(y, i, msg->payload); // y position
i += put_float_by_index(z, i, msg->payload); // z position
i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16);
}
/**
@ -89,14 +127,30 @@ static inline uint16_t mavlink_msg_local_position_setpoint_encode(uint8_t system
static inline void mavlink_msg_local_position_setpoint_send(mavlink_channel_t chan, float x, float y, float z, float yaw)
{
mavlink_message_t msg;
mavlink_msg_local_position_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, x, y, z, yaw);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_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_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, 16);
#else
mavlink_local_position_setpoint_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, (const char *)&packet, 16);
#endif
}
#endif
// MESSAGE LOCAL_POSITION_SETPOINT UNPACKING
/**
* @brief Get field x from local_position_setpoint message
*
@ -104,12 +158,7 @@ static inline void mavlink_msg_local_position_setpoint_send(mavlink_channel_t ch
*/
static inline float mavlink_msg_local_position_setpoint_get_x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 0);
}
/**
@ -119,12 +168,7 @@ static inline float mavlink_msg_local_position_setpoint_get_x(const mavlink_mess
*/
static inline float mavlink_msg_local_position_setpoint_get_y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 4);
}
/**
@ -134,12 +178,7 @@ static inline float mavlink_msg_local_position_setpoint_get_y(const mavlink_mess
*/
static inline float mavlink_msg_local_position_setpoint_get_z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 8);
}
/**
@ -149,12 +188,7 @@ static inline float mavlink_msg_local_position_setpoint_get_z(const mavlink_mess
*/
static inline float mavlink_msg_local_position_setpoint_get_yaw(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 12);
}
/**
@ -165,8 +199,12 @@ static inline float mavlink_msg_local_position_setpoint_get_yaw(const mavlink_me
*/
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);
#else
memcpy(local_position_setpoint, _MAV_PAYLOAD(msg), 16);
#endif
}

168
libraries/GCS_MAVLink/include/common/mavlink_msg_local_position_setpoint_set.h
View File

@ -2,17 +2,32 @@
#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET 50
typedef struct __mavlink_local_position_setpoint_set_t
typedef struct __mavlink_local_position_setpoint_set_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
float x; ///< x position
float y; ///< y position
float z; ///< z position
float yaw; ///< Desired yaw angle
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
float x; ///< x position
float y; ///< y position
float z; ///< z position
float yaw; ///< Desired yaw angle
} mavlink_local_position_setpoint_set_t;
#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET_LEN 18
#define MAVLINK_MSG_ID_50_LEN 18
#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET { \
"LOCAL_POSITION_SETPOINT_SET", \
6, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_local_position_setpoint_set_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_local_position_setpoint_set_t, target_component) }, \
{ "x", MAVLINK_TYPE_FLOAT, 0, 2, offsetof(mavlink_local_position_setpoint_set_t, x) }, \
{ "y", MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_local_position_setpoint_set_t, y) }, \
{ "z", MAVLINK_TYPE_FLOAT, 0, 10, offsetof(mavlink_local_position_setpoint_set_t, z) }, \
{ "yaw", MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_local_position_setpoint_set_t, yaw) }, \
} \
}
/**
@ -29,23 +44,37 @@ typedef struct __mavlink_local_position_setpoint_set_t
* @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_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw)
static inline uint16_t mavlink_msg_local_position_setpoint_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_float(buf, 2, x);
_mav_put_float(buf, 6, y);
_mav_put_float(buf, 10, z);
_mav_put_float(buf, 14, yaw);
memcpy(_MAV_PAYLOAD(msg), buf, 18);
#else
mavlink_local_position_setpoint_set_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_float_by_index(x, i, msg->payload); // x position
i += put_float_by_index(y, i, msg->payload); // y position
i += put_float_by_index(z, i, msg->payload); // z position
i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 18);
}
/**
* @brief Pack a local_position_setpoint_set message
* @brief Pack a local_position_setpoint_set 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
@ -58,19 +87,34 @@ static inline uint16_t mavlink_msg_local_position_setpoint_set_pack(uint8_t syst
* @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_set_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, float x, float y, float z, float yaw)
static inline uint16_t mavlink_msg_local_position_setpoint_set_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,float x,float y,float z,float yaw)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_float(buf, 2, x);
_mav_put_float(buf, 6, y);
_mav_put_float(buf, 10, z);
_mav_put_float(buf, 14, yaw);
memcpy(_MAV_PAYLOAD(msg), buf, 18);
#else
mavlink_local_position_setpoint_set_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_float_by_index(x, i, msg->payload); // x position
i += put_float_by_index(y, i, msg->payload); // y position
i += put_float_by_index(z, i, msg->payload); // z position
i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18);
}
/**
@ -101,14 +145,34 @@ static inline uint16_t mavlink_msg_local_position_setpoint_set_encode(uint8_t sy
static inline void mavlink_msg_local_position_setpoint_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw)
{
mavlink_message_t msg;
mavlink_msg_local_position_setpoint_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, x, y, z, yaw);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_float(buf, 2, x);
_mav_put_float(buf, 6, y);
_mav_put_float(buf, 10, z);
_mav_put_float(buf, 14, yaw);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET, buf, 18);
#else
mavlink_local_position_setpoint_set_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET, (const char *)&packet, 18);
#endif
}
#endif
// MESSAGE LOCAL_POSITION_SETPOINT_SET UNPACKING
/**
* @brief Get field target_system from local_position_setpoint_set message
*
@ -116,7 +180,7 @@ static inline void mavlink_msg_local_position_setpoint_set_send(mavlink_channel_
*/
static inline uint8_t mavlink_msg_local_position_setpoint_set_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -126,7 +190,7 @@ static inline uint8_t mavlink_msg_local_position_setpoint_set_get_target_system(
*/
static inline uint8_t mavlink_msg_local_position_setpoint_set_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -136,12 +200,7 @@ static inline uint8_t mavlink_msg_local_position_setpoint_set_get_target_compone
*/
static inline float mavlink_msg_local_position_setpoint_set_get_x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 2);
}
/**
@ -151,12 +210,7 @@ static inline float mavlink_msg_local_position_setpoint_set_get_x(const mavlink_
*/
static inline float mavlink_msg_local_position_setpoint_set_get_y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 6);
}
/**
@ -166,12 +220,7 @@ static inline float mavlink_msg_local_position_setpoint_set_get_y(const mavlink_
*/
static inline float mavlink_msg_local_position_setpoint_set_get_z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 10);
}
/**
@ -181,12 +230,7 @@ static inline float mavlink_msg_local_position_setpoint_set_get_z(const mavlink_
*/
static inline float mavlink_msg_local_position_setpoint_set_get_yaw(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 14);
}
/**
@ -197,10 +241,14 @@ static inline float mavlink_msg_local_position_setpoint_set_get_yaw(const mavlin
*/
static inline void mavlink_msg_local_position_setpoint_set_decode(const mavlink_message_t* msg, mavlink_local_position_setpoint_set_t* local_position_setpoint_set)
{
#if MAVLINK_NEED_BYTE_SWAP
local_position_setpoint_set->target_system = mavlink_msg_local_position_setpoint_set_get_target_system(msg);
local_position_setpoint_set->target_component = mavlink_msg_local_position_setpoint_set_get_target_component(msg);
local_position_setpoint_set->x = mavlink_msg_local_position_setpoint_set_get_x(msg);
local_position_setpoint_set->y = mavlink_msg_local_position_setpoint_set_get_y(msg);
local_position_setpoint_set->z = mavlink_msg_local_position_setpoint_set_get_z(msg);
local_position_setpoint_set->yaw = mavlink_msg_local_position_setpoint_set_get_yaw(msg);
#else
memcpy(local_position_setpoint_set, _MAV_PAYLOAD(msg), 18);
#endif
}

207
libraries/GCS_MAVLink/include/common/mavlink_msg_manual_control.h
View File

@ -2,20 +2,38 @@
#define MAVLINK_MSG_ID_MANUAL_CONTROL 69
typedef struct __mavlink_manual_control_t
typedef struct __mavlink_manual_control_t
{
uint8_t target; ///< The system to be controlled
float roll; ///< roll
float pitch; ///< pitch
float yaw; ///< yaw
float thrust; ///< thrust
uint8_t roll_manual; ///< roll control enabled auto:0, manual:1
uint8_t pitch_manual; ///< pitch auto:0, manual:1
uint8_t yaw_manual; ///< yaw auto:0, manual:1
uint8_t thrust_manual; ///< thrust auto:0, manual:1
uint8_t target; ///< The system to be controlled
float roll; ///< roll
float pitch; ///< pitch
float yaw; ///< yaw
float thrust; ///< thrust
uint8_t roll_manual; ///< roll control enabled auto:0, manual:1
uint8_t pitch_manual; ///< pitch auto:0, manual:1
uint8_t yaw_manual; ///< yaw auto:0, manual:1
uint8_t thrust_manual; ///< thrust auto:0, manual:1
} mavlink_manual_control_t;
#define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 21
#define MAVLINK_MSG_ID_69_LEN 21
#define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \
"MANUAL_CONTROL", \
9, \
{ { "target", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_manual_control_t, target) }, \
{ "roll", MAVLINK_TYPE_FLOAT, 0, 1, offsetof(mavlink_manual_control_t, roll) }, \
{ "pitch", MAVLINK_TYPE_FLOAT, 0, 5, offsetof(mavlink_manual_control_t, pitch) }, \
{ "yaw", MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_manual_control_t, yaw) }, \
{ "thrust", MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_manual_control_t, thrust) }, \
{ "roll_manual", MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_manual_control_t, roll_manual) }, \
{ "pitch_manual", MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_manual_control_t, pitch_manual) }, \
{ "yaw_manual", MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_manual_control_t, yaw_manual) }, \
{ "thrust_manual", MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_control_t, thrust_manual) }, \
} \
}
/**
@ -35,26 +53,43 @@ typedef struct __mavlink_manual_control_t
* @param thrust_manual thrust auto:0, manual:1
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[21];
_mav_put_uint8_t(buf, 0, target);
_mav_put_float(buf, 1, roll);
_mav_put_float(buf, 5, pitch);
_mav_put_float(buf, 9, yaw);
_mav_put_float(buf, 13, thrust);
_mav_put_uint8_t(buf, 17, roll_manual);
_mav_put_uint8_t(buf, 18, pitch_manual);
_mav_put_uint8_t(buf, 19, yaw_manual);
_mav_put_uint8_t(buf, 20, thrust_manual);
memcpy(_MAV_PAYLOAD(msg), buf, 21);
#else
mavlink_manual_control_t packet;
packet.target = target;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
packet.roll_manual = roll_manual;
packet.pitch_manual = pitch_manual;
packet.yaw_manual = yaw_manual;
packet.thrust_manual = thrust_manual;
memcpy(_MAV_PAYLOAD(msg), &packet, 21);
#endif
msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
i += put_uint8_t_by_index(target, i, msg->payload); // The system to be controlled
i += put_float_by_index(roll, i, msg->payload); // roll
i += put_float_by_index(pitch, i, msg->payload); // pitch
i += put_float_by_index(yaw, i, msg->payload); // yaw
i += put_float_by_index(thrust, i, msg->payload); // thrust
i += put_uint8_t_by_index(roll_manual, i, msg->payload); // roll control enabled auto:0, manual:1
i += put_uint8_t_by_index(pitch_manual, i, msg->payload); // pitch auto:0, manual:1
i += put_uint8_t_by_index(yaw_manual, i, msg->payload); // yaw auto:0, manual:1
i += put_uint8_t_by_index(thrust_manual, i, msg->payload); // thrust auto:0, manual:1
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 21);
}
/**
* @brief Pack a manual_control message
* @brief Pack a manual_control 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
@ -70,22 +105,40 @@ static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_
* @param thrust_manual thrust auto:0, manual:1
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target,float roll,float pitch,float yaw,float thrust,uint8_t roll_manual,uint8_t pitch_manual,uint8_t yaw_manual,uint8_t thrust_manual)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[21];
_mav_put_uint8_t(buf, 0, target);
_mav_put_float(buf, 1, roll);
_mav_put_float(buf, 5, pitch);
_mav_put_float(buf, 9, yaw);
_mav_put_float(buf, 13, thrust);
_mav_put_uint8_t(buf, 17, roll_manual);
_mav_put_uint8_t(buf, 18, pitch_manual);
_mav_put_uint8_t(buf, 19, yaw_manual);
_mav_put_uint8_t(buf, 20, thrust_manual);
memcpy(_MAV_PAYLOAD(msg), buf, 21);
#else
mavlink_manual_control_t packet;
packet.target = target;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
packet.roll_manual = roll_manual;
packet.pitch_manual = pitch_manual;
packet.yaw_manual = yaw_manual;
packet.thrust_manual = thrust_manual;
memcpy(_MAV_PAYLOAD(msg), &packet, 21);
#endif
msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
i += put_uint8_t_by_index(target, i, msg->payload); // The system to be controlled
i += put_float_by_index(roll, i, msg->payload); // roll
i += put_float_by_index(pitch, i, msg->payload); // pitch
i += put_float_by_index(yaw, i, msg->payload); // yaw
i += put_float_by_index(thrust, i, msg->payload); // thrust
i += put_uint8_t_by_index(roll_manual, i, msg->payload); // roll control enabled auto:0, manual:1
i += put_uint8_t_by_index(pitch_manual, i, msg->payload); // pitch auto:0, manual:1
i += put_uint8_t_by_index(yaw_manual, i, msg->payload); // yaw auto:0, manual:1
i += put_uint8_t_by_index(thrust_manual, i, msg->payload); // thrust auto:0, manual:1
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21);
}
/**
@ -119,14 +172,40 @@ static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint
static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
{
mavlink_message_t msg;
mavlink_msg_manual_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[21];
_mav_put_uint8_t(buf, 0, target);
_mav_put_float(buf, 1, roll);
_mav_put_float(buf, 5, pitch);
_mav_put_float(buf, 9, yaw);
_mav_put_float(buf, 13, thrust);
_mav_put_uint8_t(buf, 17, roll_manual);
_mav_put_uint8_t(buf, 18, pitch_manual);
_mav_put_uint8_t(buf, 19, yaw_manual);
_mav_put_uint8_t(buf, 20, thrust_manual);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, 21);
#else
mavlink_manual_control_t packet;
packet.target = target;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
packet.roll_manual = roll_manual;
packet.pitch_manual = pitch_manual;
packet.yaw_manual = yaw_manual;
packet.thrust_manual = thrust_manual;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, 21);
#endif
}
#endif
// MESSAGE MANUAL_CONTROL UNPACKING
/**
* @brief Get field target from manual_control message
*
@ -134,7 +213,7 @@ static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8
*/
static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -144,12 +223,7 @@ static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_messag
*/
static inline float mavlink_msg_manual_control_get_roll(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 1);
}
/**
@ -159,12 +233,7 @@ static inline float mavlink_msg_manual_control_get_roll(const mavlink_message_t*
*/
static inline float mavlink_msg_manual_control_get_pitch(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 5);
}
/**
@ -174,12 +243,7 @@ static inline float mavlink_msg_manual_control_get_pitch(const mavlink_message_t
*/
static inline float mavlink_msg_manual_control_get_yaw(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 9);
}
/**
@ -189,12 +253,7 @@ static inline float mavlink_msg_manual_control_get_yaw(const mavlink_message_t*
*/
static inline float mavlink_msg_manual_control_get_thrust(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 13);
}
/**
@ -204,7 +263,7 @@ static inline float mavlink_msg_manual_control_get_thrust(const mavlink_message_
*/
static inline uint8_t mavlink_msg_manual_control_get_roll_manual(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
return _MAV_RETURN_uint8_t(msg, 17);
}
/**
@ -214,7 +273,7 @@ static inline uint8_t mavlink_msg_manual_control_get_roll_manual(const mavlink_m
*/
static inline uint8_t mavlink_msg_manual_control_get_pitch_manual(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 18);
}
/**
@ -224,7 +283,7 @@ static inline uint8_t mavlink_msg_manual_control_get_pitch_manual(const mavlink_
*/
static inline uint8_t mavlink_msg_manual_control_get_yaw_manual(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 19);
}
/**
@ -234,7 +293,7 @@ static inline uint8_t mavlink_msg_manual_control_get_yaw_manual(const mavlink_me
*/
static inline uint8_t mavlink_msg_manual_control_get_thrust_manual(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 20);
}
/**
@ -245,6 +304,7 @@ static inline uint8_t mavlink_msg_manual_control_get_thrust_manual(const mavlink
*/
static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* msg, mavlink_manual_control_t* manual_control)
{
#if MAVLINK_NEED_BYTE_SWAP
manual_control->target = mavlink_msg_manual_control_get_target(msg);
manual_control->roll = mavlink_msg_manual_control_get_roll(msg);
manual_control->pitch = mavlink_msg_manual_control_get_pitch(msg);
@ -254,4 +314,7 @@ static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* ms
manual_control->pitch_manual = mavlink_msg_manual_control_get_pitch_manual(msg);
manual_control->yaw_manual = mavlink_msg_manual_control_get_yaw_manual(msg);
manual_control->thrust_manual = mavlink_msg_manual_control_get_thrust_manual(msg);
#else
memcpy(manual_control, _MAV_PAYLOAD(msg), 21);
#endif
}

100
libraries/GCS_MAVLink/include/common/mavlink_msg_named_value_float.h
View File

@ -2,15 +2,25 @@
#define MAVLINK_MSG_ID_NAMED_VALUE_FLOAT 252
typedef struct __mavlink_named_value_float_t
typedef struct __mavlink_named_value_float_t
{
char name[10]; ///< Name of the debug variable
float value; ///< Floating point value
char name[10]; ///< Name of the debug variable
float value; ///< Floating point value
} mavlink_named_value_float_t;
#define MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN 14
#define MAVLINK_MSG_ID_252_LEN 14
#define MAVLINK_MSG_NAMED_VALUE_FLOAT_FIELD_NAME_LEN 10
#define MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT { \
"NAMED_VALUE_FLOAT", \
2, \
{ { "name", MAVLINK_TYPE_CHAR, 10, 0, offsetof(mavlink_named_value_float_t, name) }, \
{ "value", MAVLINK_TYPE_FLOAT, 0, 10, offsetof(mavlink_named_value_float_t, value) }, \
} \
}
/**
* @brief Pack a named_value_float message
@ -22,19 +32,27 @@ typedef struct __mavlink_named_value_float_t
* @param value Floating point value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_named_value_float_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char* name, float value)
static inline uint16_t mavlink_msg_named_value_float_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
const char *name, float value)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[14];
_mav_put_float(buf, 10, value);
_mav_put_char_array(buf, 0, name, 10);
memcpy(_MAV_PAYLOAD(msg), buf, 14);
#else
mavlink_named_value_float_t packet;
packet.value = value;
memcpy(packet.name, name, sizeof(char)*10);
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
#endif
msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT;
i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name of the debug variable
i += put_float_by_index(value, i, msg->payload); // Floating point value
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 14);
}
/**
* @brief Pack a named_value_float message
* @brief Pack a named_value_float 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
@ -43,15 +61,24 @@ static inline uint16_t mavlink_msg_named_value_float_pack(uint8_t system_id, uin
* @param value Floating point value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_named_value_float_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const char* name, float value)
static inline uint16_t mavlink_msg_named_value_float_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
const char *name,float value)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[14];
_mav_put_float(buf, 10, value);
_mav_put_char_array(buf, 0, name, 10);
memcpy(_MAV_PAYLOAD(msg), buf, 14);
#else
mavlink_named_value_float_t packet;
packet.value = value;
memcpy(packet.name, name, sizeof(char)*10);
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
#endif
msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT;
i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name of the debug variable
i += put_float_by_index(value, i, msg->payload); // Floating point value
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14);
}
/**
@ -76,26 +103,34 @@ static inline uint16_t mavlink_msg_named_value_float_encode(uint8_t system_id, u
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_named_value_float_send(mavlink_channel_t chan, const char* name, float value)
static inline void mavlink_msg_named_value_float_send(mavlink_channel_t chan, const char *name, float value)
{
mavlink_message_t msg;
mavlink_msg_named_value_float_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, name, value);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[14];
_mav_put_float(buf, 10, value);
_mav_put_char_array(buf, 0, name, 10);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, buf, 14);
#else
mavlink_named_value_float_t packet;
packet.value = value;
memcpy(packet.name, name, sizeof(char)*10);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, (const char *)&packet, 14);
#endif
}
#endif
// MESSAGE NAMED_VALUE_FLOAT UNPACKING
/**
* @brief Get field name from named_value_float message
*
* @return Name of the debug variable
*/
static inline uint16_t mavlink_msg_named_value_float_get_name(const mavlink_message_t* msg, char* r_data)
static inline uint16_t mavlink_msg_named_value_float_get_name(const mavlink_message_t* msg, char *name)
{
memcpy(r_data, msg->payload, sizeof(char)*10);
return sizeof(char)*10;
return _MAV_RETURN_char_array(msg, name, 10, 0);
}
/**
@ -105,12 +140,7 @@ static inline uint16_t mavlink_msg_named_value_float_get_name(const mavlink_mess
*/
static inline float mavlink_msg_named_value_float_get_value(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(char)*10)[0];
r.b[2] = (msg->payload+sizeof(char)*10)[1];
r.b[1] = (msg->payload+sizeof(char)*10)[2];
r.b[0] = (msg->payload+sizeof(char)*10)[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 10);
}
/**
@ -121,6 +151,10 @@ static inline float mavlink_msg_named_value_float_get_value(const mavlink_messag
*/
static inline void mavlink_msg_named_value_float_decode(const mavlink_message_t* msg, mavlink_named_value_float_t* named_value_float)
{
#if MAVLINK_NEED_BYTE_SWAP
mavlink_msg_named_value_float_get_name(msg, named_value_float->name);
named_value_float->value = mavlink_msg_named_value_float_get_value(msg);
#else
memcpy(named_value_float, _MAV_PAYLOAD(msg), 14);
#endif
}

100
libraries/GCS_MAVLink/include/common/mavlink_msg_named_value_int.h
View File

@ -2,15 +2,25 @@
#define MAVLINK_MSG_ID_NAMED_VALUE_INT 253
typedef struct __mavlink_named_value_int_t
typedef struct __mavlink_named_value_int_t
{
char name[10]; ///< Name of the debug variable
int32_t value; ///< Signed integer value
char name[10]; ///< Name of the debug variable
int32_t value; ///< Signed integer value
} mavlink_named_value_int_t;
#define MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN 14
#define MAVLINK_MSG_ID_253_LEN 14
#define MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN 10
#define MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT { \
"NAMED_VALUE_INT", \
2, \
{ { "name", MAVLINK_TYPE_CHAR, 10, 0, offsetof(mavlink_named_value_int_t, name) }, \
{ "value", MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_named_value_int_t, value) }, \
} \
}
/**
* @brief Pack a named_value_int message
@ -22,19 +32,27 @@ typedef struct __mavlink_named_value_int_t
* @param value Signed integer value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_named_value_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char* name, int32_t value)
static inline uint16_t mavlink_msg_named_value_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
const char *name, int32_t value)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[14];
_mav_put_int32_t(buf, 10, value);
_mav_put_char_array(buf, 0, name, 10);
memcpy(_MAV_PAYLOAD(msg), buf, 14);
#else
mavlink_named_value_int_t packet;
packet.value = value;
memcpy(packet.name, name, sizeof(char)*10);
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
#endif
msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT;
i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name of the debug variable
i += put_int32_t_by_index(value, i, msg->payload); // Signed integer value
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 14);
}
/**
* @brief Pack a named_value_int message
* @brief Pack a named_value_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
@ -43,15 +61,24 @@ static inline uint16_t mavlink_msg_named_value_int_pack(uint8_t system_id, uint8
* @param value Signed integer value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_named_value_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const char* name, int32_t value)
static inline uint16_t mavlink_msg_named_value_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
const char *name,int32_t value)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[14];
_mav_put_int32_t(buf, 10, value);
_mav_put_char_array(buf, 0, name, 10);
memcpy(_MAV_PAYLOAD(msg), buf, 14);
#else
mavlink_named_value_int_t packet;
packet.value = value;
memcpy(packet.name, name, sizeof(char)*10);
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
#endif
msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT;
i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name of the debug variable
i += put_int32_t_by_index(value, i, msg->payload); // Signed integer value
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14);
}
/**
@ -76,26 +103,34 @@ static inline uint16_t mavlink_msg_named_value_int_encode(uint8_t system_id, uin
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_named_value_int_send(mavlink_channel_t chan, const char* name, int32_t value)
static inline void mavlink_msg_named_value_int_send(mavlink_channel_t chan, const char *name, int32_t value)
{
mavlink_message_t msg;
mavlink_msg_named_value_int_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, name, value);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[14];
_mav_put_int32_t(buf, 10, value);
_mav_put_char_array(buf, 0, name, 10);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, buf, 14);
#else
mavlink_named_value_int_t packet;
packet.value = value;
memcpy(packet.name, name, sizeof(char)*10);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, (const char *)&packet, 14);
#endif
}
#endif
// MESSAGE NAMED_VALUE_INT UNPACKING
/**
* @brief Get field name from named_value_int message
*
* @return Name of the debug variable
*/
static inline uint16_t mavlink_msg_named_value_int_get_name(const mavlink_message_t* msg, char* r_data)
static inline uint16_t mavlink_msg_named_value_int_get_name(const mavlink_message_t* msg, char *name)
{
memcpy(r_data, msg->payload, sizeof(char)*10);
return sizeof(char)*10;
return _MAV_RETURN_char_array(msg, name, 10, 0);
}
/**
@ -105,12 +140,7 @@ static inline uint16_t mavlink_msg_named_value_int_get_name(const mavlink_messag
*/
static inline int32_t mavlink_msg_named_value_int_get_value(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(char)*10)[0];
r.b[2] = (msg->payload+sizeof(char)*10)[1];
r.b[1] = (msg->payload+sizeof(char)*10)[2];
r.b[0] = (msg->payload+sizeof(char)*10)[3];
return (int32_t)r.i;
return _MAV_RETURN_int32_t(msg, 10);
}
/**
@ -121,6 +151,10 @@ static inline int32_t mavlink_msg_named_value_int_get_value(const mavlink_messag
*/
static inline void mavlink_msg_named_value_int_decode(const mavlink_message_t* msg, mavlink_named_value_int_t* named_value_int)
{
#if MAVLINK_NEED_BYTE_SWAP
mavlink_msg_named_value_int_get_name(msg, named_value_int->name);
named_value_int->value = mavlink_msg_named_value_int_get_value(msg);
#else
memcpy(named_value_int, _MAV_PAYLOAD(msg), 14);
#endif
}

208
libraries/GCS_MAVLink/include/common/mavlink_msg_nav_controller_output.h
View File

@ -2,19 +2,36 @@
#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62
typedef struct __mavlink_nav_controller_output_t
typedef struct __mavlink_nav_controller_output_t
{
float nav_roll; ///< Current desired roll in degrees
float nav_pitch; ///< Current desired pitch in degrees
int16_t nav_bearing; ///< Current desired heading in degrees
int16_t target_bearing; ///< Bearing to current waypoint/target in degrees
uint16_t wp_dist; ///< Distance to active waypoint in meters
float alt_error; ///< Current altitude error in meters
float aspd_error; ///< Current airspeed error in meters/second
float xtrack_error; ///< Current crosstrack error on x-y plane in meters
float nav_roll; ///< Current desired roll in degrees
float nav_pitch; ///< Current desired pitch in degrees
int16_t nav_bearing; ///< Current desired heading in degrees
int16_t target_bearing; ///< Bearing to current waypoint/target in degrees
uint16_t wp_dist; ///< Distance to active waypoint in meters
float alt_error; ///< Current altitude error in meters
float aspd_error; ///< Current airspeed error in meters/second
float xtrack_error; ///< Current crosstrack error on x-y plane in meters
} mavlink_nav_controller_output_t;
#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN 26
#define MAVLINK_MSG_ID_62_LEN 26
#define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT { \
"NAV_CONTROLLER_OUTPUT", \
8, \
{ { "nav_roll", MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \
{ "nav_pitch", MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \
{ "nav_bearing", MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \
{ "target_bearing", MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \
{ "wp_dist", MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \
{ "alt_error", MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_nav_controller_output_t, alt_error) }, \
{ "aspd_error", MAVLINK_TYPE_FLOAT, 0, 18, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \
{ "xtrack_error", MAVLINK_TYPE_FLOAT, 0, 22, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \
} \
}
/**
@ -33,25 +50,41 @@ typedef struct __mavlink_nav_controller_output_t
* @param xtrack_error Current crosstrack error on x-y plane in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[26];
_mav_put_float(buf, 0, nav_roll);
_mav_put_float(buf, 4, nav_pitch);
_mav_put_int16_t(buf, 8, nav_bearing);
_mav_put_int16_t(buf, 10, target_bearing);
_mav_put_uint16_t(buf, 12, wp_dist);
_mav_put_float(buf, 14, alt_error);
_mav_put_float(buf, 18, aspd_error);
_mav_put_float(buf, 22, xtrack_error);
memcpy(_MAV_PAYLOAD(msg), buf, 26);
#else
mavlink_nav_controller_output_t packet;
packet.nav_roll = nav_roll;
packet.nav_pitch = nav_pitch;
packet.nav_bearing = nav_bearing;
packet.target_bearing = target_bearing;
packet.wp_dist = wp_dist;
packet.alt_error = alt_error;
packet.aspd_error = aspd_error;
packet.xtrack_error = xtrack_error;
memcpy(_MAV_PAYLOAD(msg), &packet, 26);
#endif
msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
i += put_float_by_index(nav_roll, i, msg->payload); // Current desired roll in degrees
i += put_float_by_index(nav_pitch, i, msg->payload); // Current desired pitch in degrees
i += put_int16_t_by_index(nav_bearing, i, msg->payload); // Current desired heading in degrees
i += put_int16_t_by_index(target_bearing, i, msg->payload); // Bearing to current waypoint/target in degrees
i += put_uint16_t_by_index(wp_dist, i, msg->payload); // Distance to active waypoint in meters
i += put_float_by_index(alt_error, i, msg->payload); // Current altitude error in meters
i += put_float_by_index(aspd_error, i, msg->payload); // Current airspeed error in meters/second
i += put_float_by_index(xtrack_error, i, msg->payload); // Current crosstrack error on x-y plane in meters
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 26);
}
/**
* @brief Pack a nav_controller_output message
* @brief Pack a nav_controller_output 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
@ -66,21 +99,38 @@ static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id,
* @param xtrack_error Current crosstrack error on x-y plane in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float nav_roll,float nav_pitch,int16_t nav_bearing,int16_t target_bearing,uint16_t wp_dist,float alt_error,float aspd_error,float xtrack_error)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[26];
_mav_put_float(buf, 0, nav_roll);
_mav_put_float(buf, 4, nav_pitch);
_mav_put_int16_t(buf, 8, nav_bearing);
_mav_put_int16_t(buf, 10, target_bearing);
_mav_put_uint16_t(buf, 12, wp_dist);
_mav_put_float(buf, 14, alt_error);
_mav_put_float(buf, 18, aspd_error);
_mav_put_float(buf, 22, xtrack_error);
memcpy(_MAV_PAYLOAD(msg), buf, 26);
#else
mavlink_nav_controller_output_t packet;
packet.nav_roll = nav_roll;
packet.nav_pitch = nav_pitch;
packet.nav_bearing = nav_bearing;
packet.target_bearing = target_bearing;
packet.wp_dist = wp_dist;
packet.alt_error = alt_error;
packet.aspd_error = aspd_error;
packet.xtrack_error = xtrack_error;
memcpy(_MAV_PAYLOAD(msg), &packet, 26);
#endif
msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
i += put_float_by_index(nav_roll, i, msg->payload); // Current desired roll in degrees
i += put_float_by_index(nav_pitch, i, msg->payload); // Current desired pitch in degrees
i += put_int16_t_by_index(nav_bearing, i, msg->payload); // Current desired heading in degrees
i += put_int16_t_by_index(target_bearing, i, msg->payload); // Bearing to current waypoint/target in degrees
i += put_uint16_t_by_index(wp_dist, i, msg->payload); // Distance to active waypoint in meters
i += put_float_by_index(alt_error, i, msg->payload); // Current altitude error in meters
i += put_float_by_index(aspd_error, i, msg->payload); // Current airspeed error in meters/second
i += put_float_by_index(xtrack_error, i, msg->payload); // Current crosstrack error on x-y plane in meters
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26);
}
/**
@ -113,14 +163,38 @@ static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_i
static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
{
mavlink_message_t msg;
mavlink_msg_nav_controller_output_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[26];
_mav_put_float(buf, 0, nav_roll);
_mav_put_float(buf, 4, nav_pitch);
_mav_put_int16_t(buf, 8, nav_bearing);
_mav_put_int16_t(buf, 10, target_bearing);
_mav_put_uint16_t(buf, 12, wp_dist);
_mav_put_float(buf, 14, alt_error);
_mav_put_float(buf, 18, aspd_error);
_mav_put_float(buf, 22, xtrack_error);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, 26);
#else
mavlink_nav_controller_output_t packet;
packet.nav_roll = nav_roll;
packet.nav_pitch = nav_pitch;
packet.nav_bearing = nav_bearing;
packet.target_bearing = target_bearing;
packet.wp_dist = wp_dist;
packet.alt_error = alt_error;
packet.aspd_error = aspd_error;
packet.xtrack_error = xtrack_error;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)&packet, 26);
#endif
}
#endif
// MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING
/**
* @brief Get field nav_roll from nav_controller_output message
*
@ -128,12 +202,7 @@ static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan
*/
static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 0);
}
/**
@ -143,12 +212,7 @@ static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink
*/
static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 4);
}
/**
@ -158,10 +222,7 @@ static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlin
*/
static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[0];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 8);
}
/**
@ -171,10 +232,7 @@ static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const ma
*/
static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 10);
}
/**
@ -184,10 +242,7 @@ static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const
*/
static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 12);
}
/**
@ -197,12 +252,7 @@ static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavli
*/
static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[0];
r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[1];
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[2];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 14);
}
/**
@ -212,12 +262,7 @@ static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlin
*/
static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 18);
}
/**
@ -227,12 +272,7 @@ static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavli
*/
static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 22);
}
/**
@ -243,6 +283,7 @@ static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mav
*/
static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t* msg, mavlink_nav_controller_output_t* nav_controller_output)
{
#if MAVLINK_NEED_BYTE_SWAP
nav_controller_output->nav_roll = mavlink_msg_nav_controller_output_get_nav_roll(msg);
nav_controller_output->nav_pitch = mavlink_msg_nav_controller_output_get_nav_pitch(msg);
nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg);
@ -251,4 +292,7 @@ static inline void mavlink_msg_nav_controller_output_decode(const mavlink_messag
nav_controller_output->alt_error = mavlink_msg_nav_controller_output_get_alt_error(msg);
nav_controller_output->aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(msg);
nav_controller_output->xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(msg);
#else
memcpy(nav_controller_output, _MAV_PAYLOAD(msg), 26);
#endif
}

270
libraries/GCS_MAVLink/include/common/mavlink_msg_object_detection_event.h Normal file
View File

@ -0,0 +1,270 @@
// MESSAGE OBJECT_DETECTION_EVENT PACKING
#define MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT 140
typedef struct __mavlink_object_detection_event_t
{
uint32_t time; ///< Timestamp in milliseconds since system boot
uint16_t object_id; ///< Object ID
uint8_t type; ///< Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
char name[20]; ///< Name of the object as defined by the detector
uint8_t quality; ///< Detection quality / confidence. 0: bad, 255: maximum confidence
float bearing; ///< Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
float distance; ///< Ground distance in meters
} mavlink_object_detection_event_t;
#define MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT_LEN 36
#define MAVLINK_MSG_ID_140_LEN 36
#define MAVLINK_MSG_OBJECT_DETECTION_EVENT_FIELD_NAME_LEN 20
#define MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT { \
"OBJECT_DETECTION_EVENT", \
7, \
{ { "time", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_object_detection_event_t, time) }, \
{ "object_id", MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_object_detection_event_t, object_id) }, \
{ "type", MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_object_detection_event_t, type) }, \
{ "name", MAVLINK_TYPE_CHAR, 20, 7, offsetof(mavlink_object_detection_event_t, name) }, \
{ "quality", MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_object_detection_event_t, quality) }, \
{ "bearing", MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_object_detection_event_t, bearing) }, \
{ "distance", MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_object_detection_event_t, distance) }, \
} \
}
/**
* @brief Pack a object_detection_event 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 Timestamp in milliseconds since system boot
* @param object_id Object ID
* @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
* @param name Name of the object as defined by the detector
* @param quality Detection quality / confidence. 0: bad, 255: maximum confidence
* @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
* @param distance Ground distance in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_object_detection_event_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t time, uint16_t object_id, uint8_t type, const char *name, uint8_t quality, float bearing, float distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
_mav_put_uint32_t(buf, 0, time);
_mav_put_uint16_t(buf, 4, object_id);
_mav_put_uint8_t(buf, 6, type);
_mav_put_uint8_t(buf, 27, quality);
_mav_put_float(buf, 28, bearing);
_mav_put_float(buf, 32, distance);
_mav_put_char_array(buf, 7, name, 20);
memcpy(_MAV_PAYLOAD(msg), buf, 36);
#else
mavlink_object_detection_event_t packet;
packet.time = time;
packet.object_id = object_id;
packet.type = type;
packet.quality = quality;
packet.bearing = bearing;
packet.distance = distance;
memcpy(packet.name, name, sizeof(char)*20);
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
#endif
msg->msgid = MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT;
return mavlink_finalize_message(msg, system_id, component_id, 36);
}
/**
* @brief Pack a object_detection_event 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 Timestamp in milliseconds since system boot
* @param object_id Object ID
* @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
* @param name Name of the object as defined by the detector
* @param quality Detection quality / confidence. 0: bad, 255: maximum confidence
* @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
* @param distance Ground distance in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_object_detection_event_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t time,uint16_t object_id,uint8_t type,const char *name,uint8_t quality,float bearing,float distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
_mav_put_uint32_t(buf, 0, time);
_mav_put_uint16_t(buf, 4, object_id);
_mav_put_uint8_t(buf, 6, type);
_mav_put_uint8_t(buf, 27, quality);
_mav_put_float(buf, 28, bearing);
_mav_put_float(buf, 32, distance);
_mav_put_char_array(buf, 7, name, 20);
memcpy(_MAV_PAYLOAD(msg), buf, 36);
#else
mavlink_object_detection_event_t packet;
packet.time = time;
packet.object_id = object_id;
packet.type = type;
packet.quality = quality;
packet.bearing = bearing;
packet.distance = distance;
memcpy(packet.name, name, sizeof(char)*20);
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
#endif
msg->msgid = MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36);
}
/**
* @brief Encode a object_detection_event 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 object_detection_event C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_object_detection_event_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_object_detection_event_t* object_detection_event)
{
return mavlink_msg_object_detection_event_pack(system_id, component_id, msg, object_detection_event->time, object_detection_event->object_id, object_detection_event->type, object_detection_event->name, object_detection_event->quality, object_detection_event->bearing, object_detection_event->distance);
}
/**
* @brief Send a object_detection_event message
* @param chan MAVLink channel to send the message
*
* @param time Timestamp in milliseconds since system boot
* @param object_id Object ID
* @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
* @param name Name of the object as defined by the detector
* @param quality Detection quality / confidence. 0: bad, 255: maximum confidence
* @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
* @param distance Ground distance in meters
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_object_detection_event_send(mavlink_channel_t chan, uint32_t time, uint16_t object_id, uint8_t type, const char *name, uint8_t quality, float bearing, float distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
_mav_put_uint32_t(buf, 0, time);
_mav_put_uint16_t(buf, 4, object_id);
_mav_put_uint8_t(buf, 6, type);
_mav_put_uint8_t(buf, 27, quality);
_mav_put_float(buf, 28, bearing);
_mav_put_float(buf, 32, distance);
_mav_put_char_array(buf, 7, name, 20);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT, buf, 36);
#else
mavlink_object_detection_event_t packet;
packet.time = time;
packet.object_id = object_id;
packet.type = type;
packet.quality = quality;
packet.bearing = bearing;
packet.distance = distance;
memcpy(packet.name, name, sizeof(char)*20);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT, (const char *)&packet, 36);
#endif
}
#endif
// MESSAGE OBJECT_DETECTION_EVENT UNPACKING
/**
* @brief Get field time from object_detection_event message
*
* @return Timestamp in milliseconds since system boot
*/
static inline uint32_t mavlink_msg_object_detection_event_get_time(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field object_id from object_detection_event message
*
* @return Object ID
*/
static inline uint16_t mavlink_msg_object_detection_event_get_object_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 4);
}
/**
* @brief Get field type from object_detection_event message
*
* @return Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
*/
static inline uint8_t mavlink_msg_object_detection_event_get_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 6);
}
/**
* @brief Get field name from object_detection_event message
*
* @return Name of the object as defined by the detector
*/
static inline uint16_t mavlink_msg_object_detection_event_get_name(const mavlink_message_t* msg, char *name)
{
return _MAV_RETURN_char_array(msg, name, 20, 7);
}
/**
* @brief Get field quality from object_detection_event message
*
* @return Detection quality / confidence. 0: bad, 255: maximum confidence
*/
static inline uint8_t mavlink_msg_object_detection_event_get_quality(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 27);
}
/**
* @brief Get field bearing from object_detection_event message
*
* @return Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
*/
static inline float mavlink_msg_object_detection_event_get_bearing(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Get field distance from object_detection_event message
*
* @return Ground distance in meters
*/
static inline float mavlink_msg_object_detection_event_get_distance(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 32);
}
/**
* @brief Decode a object_detection_event message into a struct
*
* @param msg The message to decode
* @param object_detection_event C-struct to decode the message contents into
*/
static inline void mavlink_msg_object_detection_event_decode(const mavlink_message_t* msg, mavlink_object_detection_event_t* object_detection_event)
{
#if MAVLINK_NEED_BYTE_SWAP
object_detection_event->time = mavlink_msg_object_detection_event_get_time(msg);
object_detection_event->object_id = mavlink_msg_object_detection_event_get_object_id(msg);
object_detection_event->type = mavlink_msg_object_detection_event_get_type(msg);
mavlink_msg_object_detection_event_get_name(msg, object_detection_event->name);
object_detection_event->quality = mavlink_msg_object_detection_event_get_quality(msg);
object_detection_event->bearing = mavlink_msg_object_detection_event_get_bearing(msg);
object_detection_event->distance = mavlink_msg_object_detection_event_get_distance(msg);
#else
memcpy(object_detection_event, _MAV_PAYLOAD(msg), 36);
#endif
}

254
libraries/GCS_MAVLink/include/common/mavlink_msg_optical_flow.h Normal file
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@ -0,0 +1,254 @@
// MESSAGE OPTICAL_FLOW PACKING
#define MAVLINK_MSG_ID_OPTICAL_FLOW 100
typedef struct __mavlink_optical_flow_t
{
uint64_t time; ///< Timestamp (UNIX)
uint8_t sensor_id; ///< Sensor ID
int16_t flow_x; ///< Flow in pixels in x-sensor direction
int16_t flow_y; ///< Flow in pixels in y-sensor direction
uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
float ground_distance; ///< Ground distance in meters
} mavlink_optical_flow_t;
#define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 18
#define MAVLINK_MSG_ID_100_LEN 18
#define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \
"OPTICAL_FLOW", \
6, \
{ { "time", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time) }, \
{ "sensor_id", MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_optical_flow_t, sensor_id) }, \
{ "flow_x", MAVLINK_TYPE_INT16_T, 0, 9, offsetof(mavlink_optical_flow_t, flow_x) }, \
{ "flow_y", MAVLINK_TYPE_INT16_T, 0, 11, offsetof(mavlink_optical_flow_t, flow_y) }, \
{ "quality", MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_optical_flow_t, quality) }, \
{ "ground_distance", MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_optical_flow_t, ground_distance) }, \
} \
}
/**
* @brief Pack a optical_flow 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 Timestamp (UNIX)
* @param sensor_id Sensor ID
* @param flow_x Flow in pixels in x-sensor direction
* @param flow_y Flow in pixels in y-sensor direction
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
* @param ground_distance Ground distance in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint64_t(buf, 0, time);
_mav_put_uint8_t(buf, 8, sensor_id);
_mav_put_int16_t(buf, 9, flow_x);
_mav_put_int16_t(buf, 11, flow_y);
_mav_put_uint8_t(buf, 13, quality);
_mav_put_float(buf, 14, ground_distance);
memcpy(_MAV_PAYLOAD(msg), buf, 18);
#else
mavlink_optical_flow_t packet;
packet.time = time;
packet.sensor_id = sensor_id;
packet.flow_x = flow_x;
packet.flow_y = flow_y;
packet.quality = quality;
packet.ground_distance = ground_distance;
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
return mavlink_finalize_message(msg, system_id, component_id, 18);
}
/**
* @brief Pack a optical_flow 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 Timestamp (UNIX)
* @param sensor_id Sensor ID
* @param flow_x Flow in pixels in x-sensor direction
* @param flow_y Flow in pixels in y-sensor direction
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
* @param ground_distance Ground distance in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time,uint8_t sensor_id,int16_t flow_x,int16_t flow_y,uint8_t quality,float ground_distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint64_t(buf, 0, time);
_mav_put_uint8_t(buf, 8, sensor_id);
_mav_put_int16_t(buf, 9, flow_x);
_mav_put_int16_t(buf, 11, flow_y);
_mav_put_uint8_t(buf, 13, quality);
_mav_put_float(buf, 14, ground_distance);
memcpy(_MAV_PAYLOAD(msg), buf, 18);
#else
mavlink_optical_flow_t packet;
packet.time = time;
packet.sensor_id = sensor_id;
packet.flow_x = flow_x;
packet.flow_y = flow_y;
packet.quality = quality;
packet.ground_distance = ground_distance;
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18);
}
/**
* @brief Encode a optical_flow 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 optical_flow C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_optical_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_optical_flow_t* optical_flow)
{
return mavlink_msg_optical_flow_pack(system_id, component_id, msg, optical_flow->time, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->quality, optical_flow->ground_distance);
}
/**
* @brief Send a optical_flow message
* @param chan MAVLink channel to send the message
*
* @param time Timestamp (UNIX)
* @param sensor_id Sensor ID
* @param flow_x Flow in pixels in x-sensor direction
* @param flow_y Flow in pixels in y-sensor direction
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
* @param ground_distance Ground distance in meters
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint64_t(buf, 0, time);
_mav_put_uint8_t(buf, 8, sensor_id);
_mav_put_int16_t(buf, 9, flow_x);
_mav_put_int16_t(buf, 11, flow_y);
_mav_put_uint8_t(buf, 13, quality);
_mav_put_float(buf, 14, ground_distance);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, 18);
#else
mavlink_optical_flow_t packet;
packet.time = time;
packet.sensor_id = sensor_id;
packet.flow_x = flow_x;
packet.flow_y = flow_y;
packet.quality = quality;
packet.ground_distance = ground_distance;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, 18);
#endif
}
#endif
// MESSAGE OPTICAL_FLOW UNPACKING
/**
* @brief Get field time from optical_flow message
*
* @return Timestamp (UNIX)
*/
static inline uint64_t mavlink_msg_optical_flow_get_time(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field sensor_id from optical_flow message
*
* @return Sensor ID
*/
static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 8);
}
/**
* @brief Get field flow_x from optical_flow message
*
* @return Flow in pixels in x-sensor direction
*/
static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 9);
}
/**
* @brief Get field flow_y from optical_flow message
*
* @return Flow in pixels in y-sensor direction
*/
static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 11);
}
/**
* @brief Get field quality from optical_flow message
*
* @return Optical flow quality / confidence. 0: bad, 255: maximum quality
*/
static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 13);
}
/**
* @brief Get field ground_distance from optical_flow message
*
* @return Ground distance in meters
*/
static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 14);
}
/**
* @brief Decode a optical_flow message into a struct
*
* @param msg The message to decode
* @param optical_flow C-struct to decode the message contents into
*/
static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow)
{
#if MAVLINK_NEED_BYTE_SWAP
optical_flow->time = mavlink_msg_optical_flow_get_time(msg);
optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg);
optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg);
optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg);
optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg);
optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg);
#else
memcpy(optical_flow, _MAV_PAYLOAD(msg), 18);
#endif
}

96
libraries/GCS_MAVLink/include/common/mavlink_msg_param_request_list.h
View File

@ -2,13 +2,24 @@
#define MAVLINK_MSG_ID_PARAM_REQUEST_LIST 21
typedef struct __mavlink_param_request_list_t
typedef struct __mavlink_param_request_list_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
} mavlink_param_request_list_t;
#define MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN 2
#define MAVLINK_MSG_ID_21_LEN 2
#define MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST { \
"PARAM_REQUEST_LIST", \
2, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_param_request_list_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_param_request_list_t, target_component) }, \
} \
}
/**
@ -21,19 +32,29 @@ typedef struct __mavlink_param_request_list_t
* @param target_component Component ID
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_param_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component)
static inline uint16_t mavlink_msg_param_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_param_request_list_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 2);
}
/**
* @brief Pack a param_request_list message
* @brief Pack a param_request_list 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
@ -42,15 +63,26 @@ static inline uint16_t mavlink_msg_param_request_list_pack(uint8_t system_id, ui
* @param target_component Component ID
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_param_request_list_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)
static inline uint16_t mavlink_msg_param_request_list_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)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_param_request_list_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2);
}
/**
@ -77,14 +109,26 @@ static inline uint16_t mavlink_msg_param_request_list_encode(uint8_t system_id,
static inline void mavlink_msg_param_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
{
mavlink_message_t msg;
mavlink_msg_param_request_list_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, buf, 2);
#else
mavlink_param_request_list_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, (const char *)&packet, 2);
#endif
}
#endif
// MESSAGE PARAM_REQUEST_LIST UNPACKING
/**
* @brief Get field target_system from param_request_list message
*
@ -92,7 +136,7 @@ static inline void mavlink_msg_param_request_list_send(mavlink_channel_t chan, u
*/
static inline uint8_t mavlink_msg_param_request_list_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -102,7 +146,7 @@ static inline uint8_t mavlink_msg_param_request_list_get_target_system(const mav
*/
static inline uint8_t mavlink_msg_param_request_list_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -113,6 +157,10 @@ static inline uint8_t mavlink_msg_param_request_list_get_target_component(const
*/
static inline void mavlink_msg_param_request_list_decode(const mavlink_message_t* msg, mavlink_param_request_list_t* param_request_list)
{
#if MAVLINK_NEED_BYTE_SWAP
param_request_list->target_system = mavlink_msg_param_request_list_get_target_system(msg);
param_request_list->target_component = mavlink_msg_param_request_list_get_target_component(msg);
#else
memcpy(param_request_list, _MAV_PAYLOAD(msg), 2);
#endif
}

124
libraries/GCS_MAVLink/include/common/mavlink_msg_param_request_read.h
View File

@ -2,17 +2,29 @@
#define MAVLINK_MSG_ID_PARAM_REQUEST_READ 20
typedef struct __mavlink_param_request_read_t
typedef struct __mavlink_param_request_read_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
int8_t param_id[15]; ///< Onboard parameter id
int16_t param_index; ///< Parameter index. Send -1 to use the param ID field as identifier
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
int8_t param_id[15]; ///< Onboard parameter id
int16_t param_index; ///< Parameter index. Send -1 to use the param ID field as identifier
} mavlink_param_request_read_t;
#define MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN 19
#define MAVLINK_MSG_ID_20_LEN 19
#define MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN 15
#define MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ { \
"PARAM_REQUEST_READ", \
4, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_param_request_read_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_param_request_read_t, target_component) }, \
{ "param_id", MAVLINK_TYPE_INT8_T, 15, 2, offsetof(mavlink_param_request_read_t, param_id) }, \
{ "param_index", MAVLINK_TYPE_INT16_T, 0, 17, offsetof(mavlink_param_request_read_t, param_index) }, \
} \
}
/**
* @brief Pack a param_request_read message
@ -26,21 +38,31 @@ typedef struct __mavlink_param_request_read_t
* @param param_index Parameter index. Send -1 to use the param ID field as identifier
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_param_request_read_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, const int8_t* param_id, int16_t param_index)
static inline uint16_t mavlink_msg_param_request_read_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, const int8_t *param_id, int16_t param_index)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[19];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_int16_t(buf, 17, param_index);
_mav_put_int8_t_array(buf, 2, param_id, 15);
memcpy(_MAV_PAYLOAD(msg), buf, 19);
#else
mavlink_param_request_read_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.param_index = param_index;
memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
memcpy(_MAV_PAYLOAD(msg), &packet, 19);
#endif
msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id
i += put_int16_t_by_index(param_index, i, msg->payload); // Parameter index. Send -1 to use the param ID field as identifier
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 19);
}
/**
* @brief Pack a param_request_read message
* @brief Pack a param_request_read 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
@ -51,17 +73,28 @@ static inline uint16_t mavlink_msg_param_request_read_pack(uint8_t system_id, ui
* @param param_index Parameter index. Send -1 to use the param ID field as identifier
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_param_request_read_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, const int8_t* param_id, int16_t param_index)
static inline uint16_t mavlink_msg_param_request_read_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,const int8_t *param_id,int16_t param_index)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[19];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_int16_t(buf, 17, param_index);
_mav_put_int8_t_array(buf, 2, param_id, 15);
memcpy(_MAV_PAYLOAD(msg), buf, 19);
#else
mavlink_param_request_read_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.param_index = param_index;
memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
memcpy(_MAV_PAYLOAD(msg), &packet, 19);
#endif
msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id
i += put_int16_t_by_index(param_index, i, msg->payload); // Parameter index. Send -1 to use the param ID field as identifier
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 19);
}
/**
@ -88,16 +121,30 @@ static inline uint16_t mavlink_msg_param_request_read_encode(uint8_t system_id,
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_param_request_read_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t* param_id, int16_t param_index)
static inline void mavlink_msg_param_request_read_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t *param_id, int16_t param_index)
{
mavlink_message_t msg;
mavlink_msg_param_request_read_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, param_id, param_index);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[19];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_int16_t(buf, 17, param_index);
_mav_put_int8_t_array(buf, 2, param_id, 15);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, buf, 19);
#else
mavlink_param_request_read_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.param_index = param_index;
memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, (const char *)&packet, 19);
#endif
}
#endif
// MESSAGE PARAM_REQUEST_READ UNPACKING
/**
* @brief Get field target_system from param_request_read message
*
@ -105,7 +152,7 @@ static inline void mavlink_msg_param_request_read_send(mavlink_channel_t chan, u
*/
static inline uint8_t mavlink_msg_param_request_read_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -115,7 +162,7 @@ static inline uint8_t mavlink_msg_param_request_read_get_target_system(const mav
*/
static inline uint8_t mavlink_msg_param_request_read_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -123,11 +170,9 @@ static inline uint8_t mavlink_msg_param_request_read_get_target_component(const
*
* @return Onboard parameter id
*/
static inline uint16_t mavlink_msg_param_request_read_get_param_id(const mavlink_message_t* msg, int8_t* r_data)
static inline uint16_t mavlink_msg_param_request_read_get_param_id(const mavlink_message_t* msg, int8_t *param_id)
{
memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t), 15);
return 15;
return _MAV_RETURN_int8_t_array(msg, param_id, 15, 2);
}
/**
@ -137,10 +182,7 @@ static inline uint16_t mavlink_msg_param_request_read_get_param_id(const mavlink
*/
static inline int16_t mavlink_msg_param_request_read_get_param_index(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 17);
}
/**
@ -151,8 +193,12 @@ static inline int16_t mavlink_msg_param_request_read_get_param_index(const mavli
*/
static inline void mavlink_msg_param_request_read_decode(const mavlink_message_t* msg, mavlink_param_request_read_t* param_request_read)
{
#if MAVLINK_NEED_BYTE_SWAP
param_request_read->target_system = mavlink_msg_param_request_read_get_target_system(msg);
param_request_read->target_component = mavlink_msg_param_request_read_get_target_component(msg);
mavlink_msg_param_request_read_get_param_id(msg, param_request_read->param_id);
param_request_read->param_index = mavlink_msg_param_request_read_get_param_index(msg);
#else
memcpy(param_request_read, _MAV_PAYLOAD(msg), 19);
#endif
}

126
libraries/GCS_MAVLink/include/common/mavlink_msg_param_set.h
View File

@ -2,17 +2,29 @@
#define MAVLINK_MSG_ID_PARAM_SET 23
typedef struct __mavlink_param_set_t
typedef struct __mavlink_param_set_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
int8_t param_id[15]; ///< Onboard parameter id
float param_value; ///< Onboard parameter value
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
int8_t param_id[15]; ///< Onboard parameter id
float param_value; ///< Onboard parameter value
} mavlink_param_set_t;
#define MAVLINK_MSG_ID_PARAM_SET_LEN 21
#define MAVLINK_MSG_ID_23_LEN 21
#define MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN 15
#define MAVLINK_MESSAGE_INFO_PARAM_SET { \
"PARAM_SET", \
4, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_param_set_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_param_set_t, target_component) }, \
{ "param_id", MAVLINK_TYPE_INT8_T, 15, 2, offsetof(mavlink_param_set_t, param_id) }, \
{ "param_value", MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_param_set_t, param_value) }, \
} \
}
/**
* @brief Pack a param_set message
@ -26,21 +38,31 @@ typedef struct __mavlink_param_set_t
* @param param_value Onboard parameter value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value)
static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, const int8_t *param_id, float param_value)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[21];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_float(buf, 17, param_value);
_mav_put_int8_t_array(buf, 2, param_id, 15);
memcpy(_MAV_PAYLOAD(msg), buf, 21);
#else
mavlink_param_set_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.param_value = param_value;
memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
memcpy(_MAV_PAYLOAD(msg), &packet, 21);
#endif
msg->msgid = MAVLINK_MSG_ID_PARAM_SET;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id
i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 21);
}
/**
* @brief Pack a param_set message
* @brief Pack a param_set 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
@ -51,17 +73,28 @@ static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t com
* @param param_value Onboard parameter value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_param_set_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, const int8_t* param_id, float param_value)
static inline uint16_t mavlink_msg_param_set_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,const int8_t *param_id,float param_value)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[21];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_float(buf, 17, param_value);
_mav_put_int8_t_array(buf, 2, param_id, 15);
memcpy(_MAV_PAYLOAD(msg), buf, 21);
#else
mavlink_param_set_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.param_value = param_value;
memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
memcpy(_MAV_PAYLOAD(msg), &packet, 21);
#endif
msg->msgid = MAVLINK_MSG_ID_PARAM_SET;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id
i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21);
}
/**
@ -88,16 +121,30 @@ static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t c
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value)
static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t *param_id, float param_value)
{
mavlink_message_t msg;
mavlink_msg_param_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, param_id, param_value);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[21];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_float(buf, 17, param_value);
_mav_put_int8_t_array(buf, 2, param_id, 15);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, buf, 21);
#else
mavlink_param_set_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.param_value = param_value;
memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, (const char *)&packet, 21);
#endif
}
#endif
// MESSAGE PARAM_SET UNPACKING
/**
* @brief Get field target_system from param_set message
*
@ -105,7 +152,7 @@ static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t ta
*/
static inline uint8_t mavlink_msg_param_set_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -115,7 +162,7 @@ static inline uint8_t mavlink_msg_param_set_get_target_system(const mavlink_mess
*/
static inline uint8_t mavlink_msg_param_set_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -123,11 +170,9 @@ static inline uint8_t mavlink_msg_param_set_get_target_component(const mavlink_m
*
* @return Onboard parameter id
*/
static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_t* msg, int8_t* r_data)
static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_t* msg, int8_t *param_id)
{
memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t), 15);
return 15;
return _MAV_RETURN_int8_t_array(msg, param_id, 15, 2);
}
/**
@ -137,12 +182,7 @@ static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_
*/
static inline float mavlink_msg_param_set_get_param_value(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 17);
}
/**
@ -153,8 +193,12 @@ static inline float mavlink_msg_param_set_get_param_value(const mavlink_message_
*/
static inline void mavlink_msg_param_set_decode(const mavlink_message_t* msg, mavlink_param_set_t* param_set)
{
#if MAVLINK_NEED_BYTE_SWAP
param_set->target_system = mavlink_msg_param_set_get_target_system(msg);
param_set->target_component = mavlink_msg_param_set_get_target_component(msg);
mavlink_msg_param_set_get_param_id(msg, param_set->param_id);
param_set->param_value = mavlink_msg_param_set_get_param_value(msg);
#else
memcpy(param_set, _MAV_PAYLOAD(msg), 21);
#endif
}

132
libraries/GCS_MAVLink/include/common/mavlink_msg_param_value.h
View File

@ -2,17 +2,29 @@
#define MAVLINK_MSG_ID_PARAM_VALUE 22
typedef struct __mavlink_param_value_t
typedef struct __mavlink_param_value_t
{
int8_t param_id[15]; ///< Onboard parameter id
float param_value; ///< Onboard parameter value
uint16_t param_count; ///< Total number of onboard parameters
uint16_t param_index; ///< Index of this onboard parameter
int8_t param_id[15]; ///< Onboard parameter id
float param_value; ///< Onboard parameter value
uint16_t param_count; ///< Total number of onboard parameters
uint16_t param_index; ///< Index of this onboard parameter
} mavlink_param_value_t;
#define MAVLINK_MSG_ID_PARAM_VALUE_LEN 23
#define MAVLINK_MSG_ID_22_LEN 23
#define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 15
#define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \
"PARAM_VALUE", \
4, \
{ { "param_id", MAVLINK_TYPE_INT8_T, 15, 0, offsetof(mavlink_param_value_t, param_id) }, \
{ "param_value", MAVLINK_TYPE_FLOAT, 0, 15, offsetof(mavlink_param_value_t, param_value) }, \
{ "param_count", MAVLINK_TYPE_UINT16_T, 0, 19, offsetof(mavlink_param_value_t, param_count) }, \
{ "param_index", MAVLINK_TYPE_UINT16_T, 0, 21, offsetof(mavlink_param_value_t, param_index) }, \
} \
}
/**
* @brief Pack a param_value message
@ -26,21 +38,31 @@ typedef struct __mavlink_param_value_t
* @param param_index Index of this onboard parameter
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index)
static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
const int8_t *param_id, float param_value, uint16_t param_count, uint16_t param_index)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[23];
_mav_put_float(buf, 15, param_value);
_mav_put_uint16_t(buf, 19, param_count);
_mav_put_uint16_t(buf, 21, param_index);
_mav_put_int8_t_array(buf, 0, param_id, 15);
memcpy(_MAV_PAYLOAD(msg), buf, 23);
#else
mavlink_param_value_t packet;
packet.param_value = param_value;
packet.param_count = param_count;
packet.param_index = param_index;
memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
memcpy(_MAV_PAYLOAD(msg), &packet, 23);
#endif
msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id
i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value
i += put_uint16_t_by_index(param_count, i, msg->payload); // Total number of onboard parameters
i += put_uint16_t_by_index(param_index, i, msg->payload); // Index of this onboard parameter
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 23);
}
/**
* @brief Pack a param_value message
* @brief Pack a param_value 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
@ -51,17 +73,28 @@ static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t c
* @param param_index Index of this onboard parameter
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index)
static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
const int8_t *param_id,float param_value,uint16_t param_count,uint16_t param_index)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[23];
_mav_put_float(buf, 15, param_value);
_mav_put_uint16_t(buf, 19, param_count);
_mav_put_uint16_t(buf, 21, param_index);
_mav_put_int8_t_array(buf, 0, param_id, 15);
memcpy(_MAV_PAYLOAD(msg), buf, 23);
#else
mavlink_param_value_t packet;
packet.param_value = param_value;
packet.param_count = param_count;
packet.param_index = param_index;
memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
memcpy(_MAV_PAYLOAD(msg), &packet, 23);
#endif
msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id
i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value
i += put_uint16_t_by_index(param_count, i, msg->payload); // Total number of onboard parameters
i += put_uint16_t_by_index(param_index, i, msg->payload); // Index of this onboard parameter
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 23);
}
/**
@ -88,26 +121,38 @@ static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index)
static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const int8_t *param_id, float param_value, uint16_t param_count, uint16_t param_index)
{
mavlink_message_t msg;
mavlink_msg_param_value_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, param_id, param_value, param_count, param_index);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[23];
_mav_put_float(buf, 15, param_value);
_mav_put_uint16_t(buf, 19, param_count);
_mav_put_uint16_t(buf, 21, param_index);
_mav_put_int8_t_array(buf, 0, param_id, 15);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, 23);
#else
mavlink_param_value_t packet;
packet.param_value = param_value;
packet.param_count = param_count;
packet.param_index = param_index;
memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)&packet, 23);
#endif
}
#endif
// MESSAGE PARAM_VALUE UNPACKING
/**
* @brief Get field param_id from param_value message
*
* @return Onboard parameter id
*/
static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, int8_t* r_data)
static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, int8_t *param_id)
{
memcpy(r_data, msg->payload, 15);
return 15;
return _MAV_RETURN_int8_t_array(msg, param_id, 15, 0);
}
/**
@ -117,12 +162,7 @@ static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_messag
*/
static inline float mavlink_msg_param_value_get_param_value(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+15)[0];
r.b[2] = (msg->payload+15)[1];
r.b[1] = (msg->payload+15)[2];
r.b[0] = (msg->payload+15)[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 15);
}
/**
@ -132,10 +172,7 @@ static inline float mavlink_msg_param_value_get_param_value(const mavlink_messag
*/
static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+15+sizeof(float))[0];
r.b[0] = (msg->payload+15+sizeof(float))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 19);
}
/**
@ -145,10 +182,7 @@ static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_mes
*/
static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+15+sizeof(float)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+15+sizeof(float)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 21);
}
/**
@ -159,8 +193,12 @@ static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_mes
*/
static inline void mavlink_msg_param_value_decode(const mavlink_message_t* msg, mavlink_param_value_t* param_value)
{
#if MAVLINK_NEED_BYTE_SWAP
mavlink_msg_param_value_get_param_id(msg, param_value->param_id);
param_value->param_value = mavlink_msg_param_value_get_param_value(msg);
param_value->param_count = mavlink_msg_param_value_get_param_count(msg);
param_value->param_index = mavlink_msg_param_value_get_param_index(msg);
#else
memcpy(param_value, _MAV_PAYLOAD(msg), 23);
#endif
}

136
libraries/GCS_MAVLink/include/common/mavlink_msg_ping.h
View File

@ -2,15 +2,28 @@
#define MAVLINK_MSG_ID_PING 3
typedef struct __mavlink_ping_t
typedef struct __mavlink_ping_t
{
uint32_t seq; ///< PING sequence
uint8_t target_system; ///< 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
uint8_t target_component; ///< 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
uint64_t time; ///< Unix timestamp in microseconds
uint32_t seq; ///< PING sequence
uint8_t target_system; ///< 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
uint8_t target_component; ///< 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
uint64_t time; ///< Unix timestamp in microseconds
} mavlink_ping_t;
#define MAVLINK_MSG_ID_PING_LEN 14
#define MAVLINK_MSG_ID_3_LEN 14
#define MAVLINK_MESSAGE_INFO_PING { \
"PING", \
4, \
{ { "seq", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_ping_t, seq) }, \
{ "target_system", MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_ping_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_ping_t, target_component) }, \
{ "time", MAVLINK_TYPE_UINT64_T, 0, 6, offsetof(mavlink_ping_t, time) }, \
} \
}
/**
@ -25,21 +38,33 @@ typedef struct __mavlink_ping_t
* @param time Unix timestamp in microseconds
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[14];
_mav_put_uint32_t(buf, 0, seq);
_mav_put_uint8_t(buf, 4, target_system);
_mav_put_uint8_t(buf, 5, target_component);
_mav_put_uint64_t(buf, 6, time);
memcpy(_MAV_PAYLOAD(msg), buf, 14);
#else
mavlink_ping_t packet;
packet.seq = seq;
packet.target_system = target_system;
packet.target_component = target_component;
packet.time = time;
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
#endif
msg->msgid = MAVLINK_MSG_ID_PING;
i += put_uint32_t_by_index(seq, i, msg->payload); // PING sequence
i += put_uint8_t_by_index(target_system, i, msg->payload); // 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
i += put_uint8_t_by_index(target_component, i, msg->payload); // 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
i += put_uint64_t_by_index(time, i, msg->payload); // Unix timestamp in microseconds
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 14);
}
/**
* @brief Pack a ping message
* @brief Pack a ping 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
@ -50,17 +75,30 @@ static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t componen
* @param time Unix timestamp in microseconds
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t seq,uint8_t target_system,uint8_t target_component,uint64_t time)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[14];
_mav_put_uint32_t(buf, 0, seq);
_mav_put_uint8_t(buf, 4, target_system);
_mav_put_uint8_t(buf, 5, target_component);
_mav_put_uint64_t(buf, 6, time);
memcpy(_MAV_PAYLOAD(msg), buf, 14);
#else
mavlink_ping_t packet;
packet.seq = seq;
packet.target_system = target_system;
packet.target_component = target_component;
packet.time = time;
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
#endif
msg->msgid = MAVLINK_MSG_ID_PING;
i += put_uint32_t_by_index(seq, i, msg->payload); // PING sequence
i += put_uint8_t_by_index(target_system, i, msg->payload); // 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
i += put_uint8_t_by_index(target_component, i, msg->payload); // 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
i += put_uint64_t_by_index(time, i, msg->payload); // Unix timestamp in microseconds
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14);
}
/**
@ -89,14 +127,30 @@ static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t compon
static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
{
mavlink_message_t msg;
mavlink_msg_ping_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seq, target_system, target_component, time);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[14];
_mav_put_uint32_t(buf, 0, seq);
_mav_put_uint8_t(buf, 4, target_system);
_mav_put_uint8_t(buf, 5, target_component);
_mav_put_uint64_t(buf, 6, time);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, 14);
#else
mavlink_ping_t packet;
packet.seq = seq;
packet.target_system = target_system;
packet.target_component = target_component;
packet.time = time;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)&packet, 14);
#endif
}
#endif
// MESSAGE PING UNPACKING
/**
* @brief Get field seq from ping message
*
@ -104,12 +158,7 @@ static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint32_t seq, u
*/
static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (uint32_t)r.i;
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
@ -119,7 +168,7 @@ static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg)
*/
static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint32_t))[0];
return _MAV_RETURN_uint8_t(msg, 4);
}
/**
@ -129,7 +178,7 @@ static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t
*/
static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint32_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 5);
}
/**
@ -139,16 +188,7 @@ static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_messag
*/
static inline uint64_t mavlink_msg_ping_get_time(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[6] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
r.b[5] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[2];
r.b[4] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[3];
r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[4];
r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[5];
r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[6];
r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[7];
return (uint64_t)r.ll;
return _MAV_RETURN_uint64_t(msg, 6);
}
/**
@ -159,8 +199,12 @@ static inline uint64_t mavlink_msg_ping_get_time(const mavlink_message_t* msg)
*/
static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping)
{
#if MAVLINK_NEED_BYTE_SWAP
ping->seq = mavlink_msg_ping_get_seq(msg);
ping->target_system = mavlink_msg_ping_get_target_system(msg);
ping->target_component = mavlink_msg_ping_get_target_component(msg);
ping->time = mavlink_msg_ping_get_time(msg);
#else
memcpy(ping, _MAV_PAYLOAD(msg), 14);
#endif
}

142
libraries/GCS_MAVLink/include/common/mavlink_msg_position_target.h
View File

@ -2,15 +2,28 @@
#define MAVLINK_MSG_ID_POSITION_TARGET 63
typedef struct __mavlink_position_target_t
typedef struct __mavlink_position_target_t
{
float x; ///< x position
float y; ///< y position
float z; ///< z position
float yaw; ///< yaw orientation in radians, 0 = NORTH
float x; ///< x position
float y; ///< y position
float z; ///< z position
float yaw; ///< yaw orientation in radians, 0 = NORTH
} mavlink_position_target_t;
#define MAVLINK_MSG_ID_POSITION_TARGET_LEN 16
#define MAVLINK_MSG_ID_63_LEN 16
#define MAVLINK_MESSAGE_INFO_POSITION_TARGET { \
"POSITION_TARGET", \
4, \
{ { "x", MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_position_target_t, x) }, \
{ "y", MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_target_t, y) }, \
{ "z", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_target_t, z) }, \
{ "yaw", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_target_t, yaw) }, \
} \
}
/**
@ -25,21 +38,33 @@ typedef struct __mavlink_position_target_t
* @param yaw yaw orientation in radians, 0 = NORTH
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_position_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float x, float y, float z, float yaw)
static inline uint16_t mavlink_msg_position_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float x, float y, float z, float yaw)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_float(buf, 0, x);
_mav_put_float(buf, 4, y);
_mav_put_float(buf, 8, z);
_mav_put_float(buf, 12, yaw);
memcpy(_MAV_PAYLOAD(msg), buf, 16);
#else
mavlink_position_target_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
#endif
msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;
i += put_float_by_index(x, i, msg->payload); // x position
i += put_float_by_index(y, i, msg->payload); // y position
i += put_float_by_index(z, i, msg->payload); // z position
i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 16);
}
/**
* @brief Pack a position_target message
* @brief Pack a position_target 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
@ -50,17 +75,30 @@ static inline uint16_t mavlink_msg_position_target_pack(uint8_t system_id, uint8
* @param yaw yaw orientation in radians, 0 = NORTH
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_position_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float x, float y, float z, float yaw)
static inline uint16_t mavlink_msg_position_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float x,float y,float z,float yaw)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_float(buf, 0, x);
_mav_put_float(buf, 4, y);
_mav_put_float(buf, 8, z);
_mav_put_float(buf, 12, yaw);
memcpy(_MAV_PAYLOAD(msg), buf, 16);
#else
mavlink_position_target_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
#endif
msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;
i += put_float_by_index(x, i, msg->payload); // x position
i += put_float_by_index(y, i, msg->payload); // y position
i += put_float_by_index(z, i, msg->payload); // z position
i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16);
}
/**
@ -89,14 +127,30 @@ static inline uint16_t mavlink_msg_position_target_encode(uint8_t system_id, uin
static inline void mavlink_msg_position_target_send(mavlink_channel_t chan, float x, float y, float z, float yaw)
{
mavlink_message_t msg;
mavlink_msg_position_target_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, x, y, z, yaw);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_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_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET, buf, 16);
#else
mavlink_position_target_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET, (const char *)&packet, 16);
#endif
}
#endif
// MESSAGE POSITION_TARGET UNPACKING
/**
* @brief Get field x from position_target message
*
@ -104,12 +158,7 @@ static inline void mavlink_msg_position_target_send(mavlink_channel_t chan, floa
*/
static inline float mavlink_msg_position_target_get_x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 0);
}
/**
@ -119,12 +168,7 @@ static inline float mavlink_msg_position_target_get_x(const mavlink_message_t* m
*/
static inline float mavlink_msg_position_target_get_y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 4);
}
/**
@ -134,12 +178,7 @@ static inline float mavlink_msg_position_target_get_y(const mavlink_message_t* m
*/
static inline float mavlink_msg_position_target_get_z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 8);
}
/**
@ -149,12 +188,7 @@ static inline float mavlink_msg_position_target_get_z(const mavlink_message_t* m
*/
static inline float mavlink_msg_position_target_get_yaw(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 12);
}
/**
@ -165,8 +199,12 @@ static inline float mavlink_msg_position_target_get_yaw(const mavlink_message_t*
*/
static inline void mavlink_msg_position_target_decode(const mavlink_message_t* msg, mavlink_position_target_t* position_target)
{
#if MAVLINK_NEED_BYTE_SWAP
position_target->x = mavlink_msg_position_target_get_x(msg);
position_target->y = mavlink_msg_position_target_get_y(msg);
position_target->z = mavlink_msg_position_target_get_z(msg);
position_target->yaw = mavlink_msg_position_target_get_yaw(msg);
#else
memcpy(position_target, _MAV_PAYLOAD(msg), 16);
#endif
}

236
libraries/GCS_MAVLink/include/common/mavlink_msg_raw_imu.h
View File

@ -2,21 +2,40 @@
#define MAVLINK_MSG_ID_RAW_IMU 28
typedef struct __mavlink_raw_imu_t
typedef struct __mavlink_raw_imu_t
{
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
int16_t xacc; ///< X acceleration (raw)
int16_t yacc; ///< Y acceleration (raw)
int16_t zacc; ///< Z acceleration (raw)
int16_t xgyro; ///< Angular speed around X axis (raw)
int16_t ygyro; ///< Angular speed around Y axis (raw)
int16_t zgyro; ///< Angular speed around Z axis (raw)
int16_t xmag; ///< X Magnetic field (raw)
int16_t ymag; ///< Y Magnetic field (raw)
int16_t zmag; ///< Z Magnetic field (raw)
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
int16_t xacc; ///< X acceleration (raw)
int16_t yacc; ///< Y acceleration (raw)
int16_t zacc; ///< Z acceleration (raw)
int16_t xgyro; ///< Angular speed around X axis (raw)
int16_t ygyro; ///< Angular speed around Y axis (raw)
int16_t zgyro; ///< Angular speed around Z axis (raw)
int16_t xmag; ///< X Magnetic field (raw)
int16_t ymag; ///< Y Magnetic field (raw)
int16_t zmag; ///< Z Magnetic field (raw)
} mavlink_raw_imu_t;
#define MAVLINK_MSG_ID_RAW_IMU_LEN 26
#define MAVLINK_MSG_ID_28_LEN 26
#define MAVLINK_MESSAGE_INFO_RAW_IMU { \
"RAW_IMU", \
10, \
{ { "usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, usec) }, \
{ "xacc", MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \
{ "yacc", MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \
{ "zacc", MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \
{ "xgyro", MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \
{ "ygyro", MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \
{ "zgyro", MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \
{ "xmag", MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \
{ "ymag", MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \
{ "zmag", MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \
} \
}
/**
@ -37,27 +56,45 @@ typedef struct __mavlink_raw_imu_t
* @param zmag Z Magnetic field (raw)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[26];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_int16_t(buf, 8, xacc);
_mav_put_int16_t(buf, 10, yacc);
_mav_put_int16_t(buf, 12, zacc);
_mav_put_int16_t(buf, 14, xgyro);
_mav_put_int16_t(buf, 16, ygyro);
_mav_put_int16_t(buf, 18, zgyro);
_mav_put_int16_t(buf, 20, xmag);
_mav_put_int16_t(buf, 22, ymag);
_mav_put_int16_t(buf, 24, zmag);
memcpy(_MAV_PAYLOAD(msg), buf, 26);
#else
mavlink_raw_imu_t packet;
packet.usec = usec;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
memcpy(_MAV_PAYLOAD(msg), &packet, 26);
#endif
msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (raw)
i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (raw)
i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (raw)
i += put_int16_t_by_index(xgyro, i, msg->payload); // Angular speed around X axis (raw)
i += put_int16_t_by_index(ygyro, i, msg->payload); // Angular speed around Y axis (raw)
i += put_int16_t_by_index(zgyro, i, msg->payload); // Angular speed around Z axis (raw)
i += put_int16_t_by_index(xmag, i, msg->payload); // X Magnetic field (raw)
i += put_int16_t_by_index(ymag, i, msg->payload); // Y Magnetic field (raw)
i += put_int16_t_by_index(zmag, i, msg->payload); // Z Magnetic field (raw)
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 26);
}
/**
* @brief Pack a raw_imu message
* @brief Pack a raw_imu 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
@ -74,23 +111,42 @@ static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t compo
* @param zmag Z Magnetic field (raw)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[26];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_int16_t(buf, 8, xacc);
_mav_put_int16_t(buf, 10, yacc);
_mav_put_int16_t(buf, 12, zacc);
_mav_put_int16_t(buf, 14, xgyro);
_mav_put_int16_t(buf, 16, ygyro);
_mav_put_int16_t(buf, 18, zgyro);
_mav_put_int16_t(buf, 20, xmag);
_mav_put_int16_t(buf, 22, ymag);
_mav_put_int16_t(buf, 24, zmag);
memcpy(_MAV_PAYLOAD(msg), buf, 26);
#else
mavlink_raw_imu_t packet;
packet.usec = usec;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
memcpy(_MAV_PAYLOAD(msg), &packet, 26);
#endif
msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (raw)
i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (raw)
i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (raw)
i += put_int16_t_by_index(xgyro, i, msg->payload); // Angular speed around X axis (raw)
i += put_int16_t_by_index(ygyro, i, msg->payload); // Angular speed around Y axis (raw)
i += put_int16_t_by_index(zgyro, i, msg->payload); // Angular speed around Z axis (raw)
i += put_int16_t_by_index(xmag, i, msg->payload); // X Magnetic field (raw)
i += put_int16_t_by_index(ymag, i, msg->payload); // Y Magnetic field (raw)
i += put_int16_t_by_index(zmag, i, msg->payload); // Z Magnetic field (raw)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26);
}
/**
@ -125,14 +181,42 @@ static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t com
static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
mavlink_message_t msg;
mavlink_msg_raw_imu_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[26];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_int16_t(buf, 8, xacc);
_mav_put_int16_t(buf, 10, yacc);
_mav_put_int16_t(buf, 12, zacc);
_mav_put_int16_t(buf, 14, xgyro);
_mav_put_int16_t(buf, 16, ygyro);
_mav_put_int16_t(buf, 18, zgyro);
_mav_put_int16_t(buf, 20, xmag);
_mav_put_int16_t(buf, 22, ymag);
_mav_put_int16_t(buf, 24, zmag);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, 26);
#else
mavlink_raw_imu_t packet;
packet.usec = usec;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)&packet, 26);
#endif
}
#endif
// MESSAGE RAW_IMU UNPACKING
/**
* @brief Get field usec from raw_imu message
*
@ -140,16 +224,7 @@ static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t use
*/
static inline uint64_t mavlink_msg_raw_imu_get_usec(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
@ -159,10 +234,7 @@ static inline uint64_t mavlink_msg_raw_imu_get_usec(const mavlink_message_t* msg
*/
static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 8);
}
/**
@ -172,10 +244,7 @@ static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg)
*/
static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 10);
}
/**
@ -185,10 +254,7 @@ static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg)
*/
static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 12);
}
/**
@ -198,10 +264,7 @@ static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg)
*/
static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 14);
}
/**
@ -211,10 +274,7 @@ static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg
*/
static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 16);
}
/**
@ -224,10 +284,7 @@ static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg
*/
static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 18);
}
/**
@ -237,10 +294,7 @@ static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg
*/
static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 20);
}
/**
@ -250,10 +304,7 @@ static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg)
*/
static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 22);
}
/**
@ -263,10 +314,7 @@ static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg)
*/
static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 24);
}
/**
@ -277,6 +325,7 @@ static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg)
*/
static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t* msg, mavlink_raw_imu_t* raw_imu)
{
#if MAVLINK_NEED_BYTE_SWAP
raw_imu->usec = mavlink_msg_raw_imu_get_usec(msg);
raw_imu->xacc = mavlink_msg_raw_imu_get_xacc(msg);
raw_imu->yacc = mavlink_msg_raw_imu_get_yacc(msg);
@ -287,4 +336,7 @@ static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t* msg, mavl
raw_imu->xmag = mavlink_msg_raw_imu_get_xmag(msg);
raw_imu->ymag = mavlink_msg_raw_imu_get_ymag(msg);
raw_imu->zmag = mavlink_msg_raw_imu_get_zmag(msg);
#else
memcpy(raw_imu, _MAV_PAYLOAD(msg), 26);
#endif
}

156
libraries/GCS_MAVLink/include/common/mavlink_msg_raw_pressure.h
View File

@ -2,16 +2,30 @@
#define MAVLINK_MSG_ID_RAW_PRESSURE 29
typedef struct __mavlink_raw_pressure_t
typedef struct __mavlink_raw_pressure_t
{
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
int16_t press_abs; ///< Absolute pressure (raw)
int16_t press_diff1; ///< Differential pressure 1 (raw)
int16_t press_diff2; ///< Differential pressure 2 (raw)
int16_t temperature; ///< Raw Temperature measurement (raw)
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
int16_t press_abs; ///< Absolute pressure (raw)
int16_t press_diff1; ///< Differential pressure 1 (raw)
int16_t press_diff2; ///< Differential pressure 2 (raw)
int16_t temperature; ///< Raw Temperature measurement (raw)
} mavlink_raw_pressure_t;
#define MAVLINK_MSG_ID_RAW_PRESSURE_LEN 16
#define MAVLINK_MSG_ID_29_LEN 16
#define MAVLINK_MESSAGE_INFO_RAW_PRESSURE { \
"RAW_PRESSURE", \
5, \
{ { "usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_pressure_t, usec) }, \
{ "press_abs", MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_pressure_t, press_abs) }, \
{ "press_diff1", MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_pressure_t, press_diff1) }, \
{ "press_diff2", MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_pressure_t, press_diff2) }, \
{ "temperature", MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_pressure_t, temperature) }, \
} \
}
/**
@ -27,22 +41,35 @@ typedef struct __mavlink_raw_pressure_t
* @param temperature Raw Temperature measurement (raw)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_raw_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature)
static inline uint16_t mavlink_msg_raw_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_int16_t(buf, 8, press_abs);
_mav_put_int16_t(buf, 10, press_diff1);
_mav_put_int16_t(buf, 12, press_diff2);
_mav_put_int16_t(buf, 14, temperature);
memcpy(_MAV_PAYLOAD(msg), buf, 16);
#else
mavlink_raw_pressure_t packet;
packet.usec = usec;
packet.press_abs = press_abs;
packet.press_diff1 = press_diff1;
packet.press_diff2 = press_diff2;
packet.temperature = temperature;
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
#endif
msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_int16_t_by_index(press_abs, i, msg->payload); // Absolute pressure (raw)
i += put_int16_t_by_index(press_diff1, i, msg->payload); // Differential pressure 1 (raw)
i += put_int16_t_by_index(press_diff2, i, msg->payload); // Differential pressure 2 (raw)
i += put_int16_t_by_index(temperature, i, msg->payload); // Raw Temperature measurement (raw)
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 16);
}
/**
* @brief Pack a raw_pressure message
* @brief Pack a raw_pressure 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
@ -54,18 +81,32 @@ static inline uint16_t mavlink_msg_raw_pressure_pack(uint8_t system_id, uint8_t
* @param temperature Raw Temperature measurement (raw)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_raw_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature)
static inline uint16_t mavlink_msg_raw_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,int16_t press_abs,int16_t press_diff1,int16_t press_diff2,int16_t temperature)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_int16_t(buf, 8, press_abs);
_mav_put_int16_t(buf, 10, press_diff1);
_mav_put_int16_t(buf, 12, press_diff2);
_mav_put_int16_t(buf, 14, temperature);
memcpy(_MAV_PAYLOAD(msg), buf, 16);
#else
mavlink_raw_pressure_t packet;
packet.usec = usec;
packet.press_abs = press_abs;
packet.press_diff1 = press_diff1;
packet.press_diff2 = press_diff2;
packet.temperature = temperature;
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
#endif
msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_int16_t_by_index(press_abs, i, msg->payload); // Absolute pressure (raw)
i += put_int16_t_by_index(press_diff1, i, msg->payload); // Differential pressure 1 (raw)
i += put_int16_t_by_index(press_diff2, i, msg->payload); // Differential pressure 2 (raw)
i += put_int16_t_by_index(temperature, i, msg->payload); // Raw Temperature measurement (raw)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16);
}
/**
@ -95,14 +136,32 @@ static inline uint16_t mavlink_msg_raw_pressure_encode(uint8_t system_id, uint8_
static inline void mavlink_msg_raw_pressure_send(mavlink_channel_t chan, uint64_t usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature)
{
mavlink_message_t msg;
mavlink_msg_raw_pressure_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, press_abs, press_diff1, press_diff2, temperature);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_int16_t(buf, 8, press_abs);
_mav_put_int16_t(buf, 10, press_diff1);
_mav_put_int16_t(buf, 12, press_diff2);
_mav_put_int16_t(buf, 14, temperature);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, buf, 16);
#else
mavlink_raw_pressure_t packet;
packet.usec = usec;
packet.press_abs = press_abs;
packet.press_diff1 = press_diff1;
packet.press_diff2 = press_diff2;
packet.temperature = temperature;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, (const char *)&packet, 16);
#endif
}
#endif
// MESSAGE RAW_PRESSURE UNPACKING
/**
* @brief Get field usec from raw_pressure message
*
@ -110,16 +169,7 @@ static inline void mavlink_msg_raw_pressure_send(mavlink_channel_t chan, uint64_
*/
static inline uint64_t mavlink_msg_raw_pressure_get_usec(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
@ -129,10 +179,7 @@ static inline uint64_t mavlink_msg_raw_pressure_get_usec(const mavlink_message_t
*/
static inline int16_t mavlink_msg_raw_pressure_get_press_abs(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 8);
}
/**
@ -142,10 +189,7 @@ static inline int16_t mavlink_msg_raw_pressure_get_press_abs(const mavlink_messa
*/
static inline int16_t mavlink_msg_raw_pressure_get_press_diff1(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 10);
}
/**
@ -155,10 +199,7 @@ static inline int16_t mavlink_msg_raw_pressure_get_press_diff1(const mavlink_mes
*/
static inline int16_t mavlink_msg_raw_pressure_get_press_diff2(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 12);
}
/**
@ -168,10 +209,7 @@ static inline int16_t mavlink_msg_raw_pressure_get_press_diff2(const mavlink_mes
*/
static inline int16_t mavlink_msg_raw_pressure_get_temperature(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 14);
}
/**
@ -182,9 +220,13 @@ static inline int16_t mavlink_msg_raw_pressure_get_temperature(const mavlink_mes
*/
static inline void mavlink_msg_raw_pressure_decode(const mavlink_message_t* msg, mavlink_raw_pressure_t* raw_pressure)
{
#if MAVLINK_NEED_BYTE_SWAP
raw_pressure->usec = mavlink_msg_raw_pressure_get_usec(msg);
raw_pressure->press_abs = mavlink_msg_raw_pressure_get_press_abs(msg);
raw_pressure->press_diff1 = mavlink_msg_raw_pressure_get_press_diff1(msg);
raw_pressure->press_diff2 = mavlink_msg_raw_pressure_get_press_diff2(msg);
raw_pressure->temperature = mavlink_msg_raw_pressure_get_temperature(msg);
#else
memcpy(raw_pressure, _MAV_PAYLOAD(msg), 16);
#endif
}

224
libraries/GCS_MAVLink/include/common/mavlink_msg_rc_channels_override.h
View File

@ -2,21 +2,40 @@
#define MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE 70
typedef struct __mavlink_rc_channels_override_t
typedef struct __mavlink_rc_channels_override_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint16_t chan1_raw; ///< RC channel 1 value, in microseconds
uint16_t chan2_raw; ///< RC channel 2 value, in microseconds
uint16_t chan3_raw; ///< RC channel 3 value, in microseconds
uint16_t chan4_raw; ///< RC channel 4 value, in microseconds
uint16_t chan5_raw; ///< RC channel 5 value, in microseconds
uint16_t chan6_raw; ///< RC channel 6 value, in microseconds
uint16_t chan7_raw; ///< RC channel 7 value, in microseconds
uint16_t chan8_raw; ///< RC channel 8 value, in microseconds
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint16_t chan1_raw; ///< RC channel 1 value, in microseconds
uint16_t chan2_raw; ///< RC channel 2 value, in microseconds
uint16_t chan3_raw; ///< RC channel 3 value, in microseconds
uint16_t chan4_raw; ///< RC channel 4 value, in microseconds
uint16_t chan5_raw; ///< RC channel 5 value, in microseconds
uint16_t chan6_raw; ///< RC channel 6 value, in microseconds
uint16_t chan7_raw; ///< RC channel 7 value, in microseconds
uint16_t chan8_raw; ///< RC channel 8 value, in microseconds
} mavlink_rc_channels_override_t;
#define MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN 18
#define MAVLINK_MSG_ID_70_LEN 18
#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE { \
"RC_CHANNELS_OVERRIDE", \
10, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_rc_channels_override_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_rc_channels_override_t, target_component) }, \
{ "chan1_raw", MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_rc_channels_override_t, chan1_raw) }, \
{ "chan2_raw", MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_rc_channels_override_t, chan2_raw) }, \
{ "chan3_raw", MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_rc_channels_override_t, chan3_raw) }, \
{ "chan4_raw", MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_rc_channels_override_t, chan4_raw) }, \
{ "chan5_raw", MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_rc_channels_override_t, chan5_raw) }, \
{ "chan6_raw", MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rc_channels_override_t, chan6_raw) }, \
{ "chan7_raw", MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_rc_channels_override_t, chan7_raw) }, \
{ "chan8_raw", MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_rc_channels_override_t, chan8_raw) }, \
} \
}
/**
@ -37,27 +56,45 @@ typedef struct __mavlink_rc_channels_override_t
* @param chan8_raw RC channel 8 value, in microseconds
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rc_channels_override_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw)
static inline uint16_t mavlink_msg_rc_channels_override_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint16_t(buf, 2, chan1_raw);
_mav_put_uint16_t(buf, 4, chan2_raw);
_mav_put_uint16_t(buf, 6, chan3_raw);
_mav_put_uint16_t(buf, 8, chan4_raw);
_mav_put_uint16_t(buf, 10, chan5_raw);
_mav_put_uint16_t(buf, 12, chan6_raw);
_mav_put_uint16_t(buf, 14, chan7_raw);
_mav_put_uint16_t(buf, 16, chan8_raw);
memcpy(_MAV_PAYLOAD(msg), buf, 18);
#else
mavlink_rc_channels_override_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.chan1_raw = chan1_raw;
packet.chan2_raw = chan2_raw;
packet.chan3_raw = chan3_raw;
packet.chan4_raw = chan4_raw;
packet.chan5_raw = chan5_raw;
packet.chan6_raw = chan6_raw;
packet.chan7_raw = chan7_raw;
packet.chan8_raw = chan8_raw;
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_uint16_t_by_index(chan1_raw, i, msg->payload); // RC channel 1 value, in microseconds
i += put_uint16_t_by_index(chan2_raw, i, msg->payload); // RC channel 2 value, in microseconds
i += put_uint16_t_by_index(chan3_raw, i, msg->payload); // RC channel 3 value, in microseconds
i += put_uint16_t_by_index(chan4_raw, i, msg->payload); // RC channel 4 value, in microseconds
i += put_uint16_t_by_index(chan5_raw, i, msg->payload); // RC channel 5 value, in microseconds
i += put_uint16_t_by_index(chan6_raw, i, msg->payload); // RC channel 6 value, in microseconds
i += put_uint16_t_by_index(chan7_raw, i, msg->payload); // RC channel 7 value, in microseconds
i += put_uint16_t_by_index(chan8_raw, i, msg->payload); // RC channel 8 value, in microseconds
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 18);
}
/**
* @brief Pack a rc_channels_override message
* @brief Pack a rc_channels_override 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
@ -74,23 +111,42 @@ static inline uint16_t mavlink_msg_rc_channels_override_pack(uint8_t system_id,
* @param chan8_raw RC channel 8 value, in microseconds
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rc_channels_override_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, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw)
static inline uint16_t mavlink_msg_rc_channels_override_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,uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint16_t(buf, 2, chan1_raw);
_mav_put_uint16_t(buf, 4, chan2_raw);
_mav_put_uint16_t(buf, 6, chan3_raw);
_mav_put_uint16_t(buf, 8, chan4_raw);
_mav_put_uint16_t(buf, 10, chan5_raw);
_mav_put_uint16_t(buf, 12, chan6_raw);
_mav_put_uint16_t(buf, 14, chan7_raw);
_mav_put_uint16_t(buf, 16, chan8_raw);
memcpy(_MAV_PAYLOAD(msg), buf, 18);
#else
mavlink_rc_channels_override_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.chan1_raw = chan1_raw;
packet.chan2_raw = chan2_raw;
packet.chan3_raw = chan3_raw;
packet.chan4_raw = chan4_raw;
packet.chan5_raw = chan5_raw;
packet.chan6_raw = chan6_raw;
packet.chan7_raw = chan7_raw;
packet.chan8_raw = chan8_raw;
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_uint16_t_by_index(chan1_raw, i, msg->payload); // RC channel 1 value, in microseconds
i += put_uint16_t_by_index(chan2_raw, i, msg->payload); // RC channel 2 value, in microseconds
i += put_uint16_t_by_index(chan3_raw, i, msg->payload); // RC channel 3 value, in microseconds
i += put_uint16_t_by_index(chan4_raw, i, msg->payload); // RC channel 4 value, in microseconds
i += put_uint16_t_by_index(chan5_raw, i, msg->payload); // RC channel 5 value, in microseconds
i += put_uint16_t_by_index(chan6_raw, i, msg->payload); // RC channel 6 value, in microseconds
i += put_uint16_t_by_index(chan7_raw, i, msg->payload); // RC channel 7 value, in microseconds
i += put_uint16_t_by_index(chan8_raw, i, msg->payload); // RC channel 8 value, in microseconds
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18);
}
/**
@ -125,14 +181,42 @@ static inline uint16_t mavlink_msg_rc_channels_override_encode(uint8_t system_id
static inline void mavlink_msg_rc_channels_override_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw)
{
mavlink_message_t msg;
mavlink_msg_rc_channels_override_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint16_t(buf, 2, chan1_raw);
_mav_put_uint16_t(buf, 4, chan2_raw);
_mav_put_uint16_t(buf, 6, chan3_raw);
_mav_put_uint16_t(buf, 8, chan4_raw);
_mav_put_uint16_t(buf, 10, chan5_raw);
_mav_put_uint16_t(buf, 12, chan6_raw);
_mav_put_uint16_t(buf, 14, chan7_raw);
_mav_put_uint16_t(buf, 16, chan8_raw);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, buf, 18);
#else
mavlink_rc_channels_override_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.chan1_raw = chan1_raw;
packet.chan2_raw = chan2_raw;
packet.chan3_raw = chan3_raw;
packet.chan4_raw = chan4_raw;
packet.chan5_raw = chan5_raw;
packet.chan6_raw = chan6_raw;
packet.chan7_raw = chan7_raw;
packet.chan8_raw = chan8_raw;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, (const char *)&packet, 18);
#endif
}
#endif
// MESSAGE RC_CHANNELS_OVERRIDE UNPACKING
/**
* @brief Get field target_system from rc_channels_override message
*
@ -140,7 +224,7 @@ static inline void mavlink_msg_rc_channels_override_send(mavlink_channel_t chan,
*/
static inline uint8_t mavlink_msg_rc_channels_override_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -150,7 +234,7 @@ static inline uint8_t mavlink_msg_rc_channels_override_get_target_system(const m
*/
static inline uint8_t mavlink_msg_rc_channels_override_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -160,10 +244,7 @@ static inline uint8_t mavlink_msg_rc_channels_override_get_target_component(cons
*/
static inline uint16_t mavlink_msg_rc_channels_override_get_chan1_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 2);
}
/**
@ -173,10 +254,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_get_chan1_raw(const mavl
*/
static inline uint16_t mavlink_msg_rc_channels_override_get_chan2_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 4);
}
/**
@ -186,10 +264,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_get_chan2_raw(const mavl
*/
static inline uint16_t mavlink_msg_rc_channels_override_get_chan3_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 6);
}
/**
@ -199,10 +274,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_get_chan3_raw(const mavl
*/
static inline uint16_t mavlink_msg_rc_channels_override_get_chan4_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 8);
}
/**
@ -212,10 +284,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_get_chan4_raw(const mavl
*/
static inline uint16_t mavlink_msg_rc_channels_override_get_chan5_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 10);
}
/**
@ -225,10 +294,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_get_chan5_raw(const mavl
*/
static inline uint16_t mavlink_msg_rc_channels_override_get_chan6_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 12);
}
/**
@ -238,10 +304,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_get_chan6_raw(const mavl
*/
static inline uint16_t mavlink_msg_rc_channels_override_get_chan7_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 14);
}
/**
@ -251,10 +314,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_get_chan7_raw(const mavl
*/
static inline uint16_t mavlink_msg_rc_channels_override_get_chan8_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 16);
}
/**
@ -265,6 +325,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_get_chan8_raw(const mavl
*/
static inline void mavlink_msg_rc_channels_override_decode(const mavlink_message_t* msg, mavlink_rc_channels_override_t* rc_channels_override)
{
#if MAVLINK_NEED_BYTE_SWAP
rc_channels_override->target_system = mavlink_msg_rc_channels_override_get_target_system(msg);
rc_channels_override->target_component = mavlink_msg_rc_channels_override_get_target_component(msg);
rc_channels_override->chan1_raw = mavlink_msg_rc_channels_override_get_chan1_raw(msg);
@ -275,4 +336,7 @@ static inline void mavlink_msg_rc_channels_override_decode(const mavlink_message
rc_channels_override->chan6_raw = mavlink_msg_rc_channels_override_get_chan6_raw(msg);
rc_channels_override->chan7_raw = mavlink_msg_rc_channels_override_get_chan7_raw(msg);
rc_channels_override->chan8_raw = mavlink_msg_rc_channels_override_get_chan8_raw(msg);
#else
memcpy(rc_channels_override, _MAV_PAYLOAD(msg), 18);
#endif
}

211
libraries/GCS_MAVLink/include/common/mavlink_msg_rc_channels_raw.h
View File

@ -2,20 +2,38 @@
#define MAVLINK_MSG_ID_RC_CHANNELS_RAW 35
typedef struct __mavlink_rc_channels_raw_t
typedef struct __mavlink_rc_channels_raw_t
{
uint16_t chan1_raw; ///< RC channel 1 value, in microseconds
uint16_t chan2_raw; ///< RC channel 2 value, in microseconds
uint16_t chan3_raw; ///< RC channel 3 value, in microseconds
uint16_t chan4_raw; ///< RC channel 4 value, in microseconds
uint16_t chan5_raw; ///< RC channel 5 value, in microseconds
uint16_t chan6_raw; ///< RC channel 6 value, in microseconds
uint16_t chan7_raw; ///< RC channel 7 value, in microseconds
uint16_t chan8_raw; ///< RC channel 8 value, in microseconds
uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100%
uint16_t chan1_raw; ///< RC channel 1 value, in microseconds
uint16_t chan2_raw; ///< RC channel 2 value, in microseconds
uint16_t chan3_raw; ///< RC channel 3 value, in microseconds
uint16_t chan4_raw; ///< RC channel 4 value, in microseconds
uint16_t chan5_raw; ///< RC channel 5 value, in microseconds
uint16_t chan6_raw; ///< RC channel 6 value, in microseconds
uint16_t chan7_raw; ///< RC channel 7 value, in microseconds
uint16_t chan8_raw; ///< RC channel 8 value, in microseconds
uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100%
} mavlink_rc_channels_raw_t;
#define MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN 17
#define MAVLINK_MSG_ID_35_LEN 17
#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW { \
"RC_CHANNELS_RAW", \
9, \
{ { "chan1_raw", MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_rc_channels_raw_t, chan1_raw) }, \
{ "chan2_raw", MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_rc_channels_raw_t, chan2_raw) }, \
{ "chan3_raw", MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_rc_channels_raw_t, chan3_raw) }, \
{ "chan4_raw", MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_rc_channels_raw_t, chan4_raw) }, \
{ "chan5_raw", MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_rc_channels_raw_t, chan5_raw) }, \
{ "chan6_raw", MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_rc_channels_raw_t, chan6_raw) }, \
{ "chan7_raw", MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rc_channels_raw_t, chan7_raw) }, \
{ "chan8_raw", MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_rc_channels_raw_t, chan8_raw) }, \
{ "rssi", MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rc_channels_raw_t, rssi) }, \
} \
}
/**
@ -35,26 +53,43 @@ typedef struct __mavlink_rc_channels_raw_t
* @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[17];
_mav_put_uint16_t(buf, 0, chan1_raw);
_mav_put_uint16_t(buf, 2, chan2_raw);
_mav_put_uint16_t(buf, 4, chan3_raw);
_mav_put_uint16_t(buf, 6, chan4_raw);
_mav_put_uint16_t(buf, 8, chan5_raw);
_mav_put_uint16_t(buf, 10, chan6_raw);
_mav_put_uint16_t(buf, 12, chan7_raw);
_mav_put_uint16_t(buf, 14, chan8_raw);
_mav_put_uint8_t(buf, 16, rssi);
memcpy(_MAV_PAYLOAD(msg), buf, 17);
#else
mavlink_rc_channels_raw_t packet;
packet.chan1_raw = chan1_raw;
packet.chan2_raw = chan2_raw;
packet.chan3_raw = chan3_raw;
packet.chan4_raw = chan4_raw;
packet.chan5_raw = chan5_raw;
packet.chan6_raw = chan6_raw;
packet.chan7_raw = chan7_raw;
packet.chan8_raw = chan8_raw;
packet.rssi = rssi;
memcpy(_MAV_PAYLOAD(msg), &packet, 17);
#endif
msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW;
i += put_uint16_t_by_index(chan1_raw, i, msg->payload); // RC channel 1 value, in microseconds
i += put_uint16_t_by_index(chan2_raw, i, msg->payload); // RC channel 2 value, in microseconds
i += put_uint16_t_by_index(chan3_raw, i, msg->payload); // RC channel 3 value, in microseconds
i += put_uint16_t_by_index(chan4_raw, i, msg->payload); // RC channel 4 value, in microseconds
i += put_uint16_t_by_index(chan5_raw, i, msg->payload); // RC channel 5 value, in microseconds
i += put_uint16_t_by_index(chan6_raw, i, msg->payload); // RC channel 6 value, in microseconds
i += put_uint16_t_by_index(chan7_raw, i, msg->payload); // RC channel 7 value, in microseconds
i += put_uint16_t_by_index(chan8_raw, i, msg->payload); // RC channel 8 value, in microseconds
i += put_uint8_t_by_index(rssi, i, msg->payload); // Receive signal strength indicator, 0: 0%, 255: 100%
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 17);
}
/**
* @brief Pack a rc_channels_raw message
* @brief Pack a rc_channels_raw 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
@ -70,22 +105,40 @@ static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8
* @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw,uint8_t rssi)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[17];
_mav_put_uint16_t(buf, 0, chan1_raw);
_mav_put_uint16_t(buf, 2, chan2_raw);
_mav_put_uint16_t(buf, 4, chan3_raw);
_mav_put_uint16_t(buf, 6, chan4_raw);
_mav_put_uint16_t(buf, 8, chan5_raw);
_mav_put_uint16_t(buf, 10, chan6_raw);
_mav_put_uint16_t(buf, 12, chan7_raw);
_mav_put_uint16_t(buf, 14, chan8_raw);
_mav_put_uint8_t(buf, 16, rssi);
memcpy(_MAV_PAYLOAD(msg), buf, 17);
#else
mavlink_rc_channels_raw_t packet;
packet.chan1_raw = chan1_raw;
packet.chan2_raw = chan2_raw;
packet.chan3_raw = chan3_raw;
packet.chan4_raw = chan4_raw;
packet.chan5_raw = chan5_raw;
packet.chan6_raw = chan6_raw;
packet.chan7_raw = chan7_raw;
packet.chan8_raw = chan8_raw;
packet.rssi = rssi;
memcpy(_MAV_PAYLOAD(msg), &packet, 17);
#endif
msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW;
i += put_uint16_t_by_index(chan1_raw, i, msg->payload); // RC channel 1 value, in microseconds
i += put_uint16_t_by_index(chan2_raw, i, msg->payload); // RC channel 2 value, in microseconds
i += put_uint16_t_by_index(chan3_raw, i, msg->payload); // RC channel 3 value, in microseconds
i += put_uint16_t_by_index(chan4_raw, i, msg->payload); // RC channel 4 value, in microseconds
i += put_uint16_t_by_index(chan5_raw, i, msg->payload); // RC channel 5 value, in microseconds
i += put_uint16_t_by_index(chan6_raw, i, msg->payload); // RC channel 6 value, in microseconds
i += put_uint16_t_by_index(chan7_raw, i, msg->payload); // RC channel 7 value, in microseconds
i += put_uint16_t_by_index(chan8_raw, i, msg->payload); // RC channel 8 value, in microseconds
i += put_uint8_t_by_index(rssi, i, msg->payload); // Receive signal strength indicator, 0: 0%, 255: 100%
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 17);
}
/**
@ -119,14 +172,40 @@ static inline uint16_t mavlink_msg_rc_channels_raw_encode(uint8_t system_id, uin
static inline void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
{
mavlink_message_t msg;
mavlink_msg_rc_channels_raw_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[17];
_mav_put_uint16_t(buf, 0, chan1_raw);
_mav_put_uint16_t(buf, 2, chan2_raw);
_mav_put_uint16_t(buf, 4, chan3_raw);
_mav_put_uint16_t(buf, 6, chan4_raw);
_mav_put_uint16_t(buf, 8, chan5_raw);
_mav_put_uint16_t(buf, 10, chan6_raw);
_mav_put_uint16_t(buf, 12, chan7_raw);
_mav_put_uint16_t(buf, 14, chan8_raw);
_mav_put_uint8_t(buf, 16, rssi);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, buf, 17);
#else
mavlink_rc_channels_raw_t packet;
packet.chan1_raw = chan1_raw;
packet.chan2_raw = chan2_raw;
packet.chan3_raw = chan3_raw;
packet.chan4_raw = chan4_raw;
packet.chan5_raw = chan5_raw;
packet.chan6_raw = chan6_raw;
packet.chan7_raw = chan7_raw;
packet.chan8_raw = chan8_raw;
packet.rssi = rssi;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, (const char *)&packet, 17);
#endif
}
#endif
// MESSAGE RC_CHANNELS_RAW UNPACKING
/**
* @brief Get field chan1_raw from rc_channels_raw message
*
@ -134,10 +213,7 @@ static inline void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint
*/
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload)[0];
r.b[0] = (msg->payload)[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
@ -147,10 +223,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_m
*/
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 2);
}
/**
@ -160,10 +233,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_m
*/
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 4);
}
/**
@ -173,10 +243,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_m
*/
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 6);
}
/**
@ -186,10 +253,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_m
*/
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 8);
}
/**
@ -199,10 +263,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_m
*/
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 10);
}
/**
@ -212,10 +273,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_m
*/
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 12);
}
/**
@ -225,10 +283,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_m
*/
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 14);
}
/**
@ -238,7 +293,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_m
*/
static inline uint8_t mavlink_msg_rc_channels_raw_get_rssi(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
return _MAV_RETURN_uint8_t(msg, 16);
}
/**
@ -249,6 +304,7 @@ static inline uint8_t mavlink_msg_rc_channels_raw_get_rssi(const mavlink_message
*/
static inline void mavlink_msg_rc_channels_raw_decode(const mavlink_message_t* msg, mavlink_rc_channels_raw_t* rc_channels_raw)
{
#if MAVLINK_NEED_BYTE_SWAP
rc_channels_raw->chan1_raw = mavlink_msg_rc_channels_raw_get_chan1_raw(msg);
rc_channels_raw->chan2_raw = mavlink_msg_rc_channels_raw_get_chan2_raw(msg);
rc_channels_raw->chan3_raw = mavlink_msg_rc_channels_raw_get_chan3_raw(msg);
@ -258,4 +314,7 @@ static inline void mavlink_msg_rc_channels_raw_decode(const mavlink_message_t* m
rc_channels_raw->chan7_raw = mavlink_msg_rc_channels_raw_get_chan7_raw(msg);
rc_channels_raw->chan8_raw = mavlink_msg_rc_channels_raw_get_chan8_raw(msg);
rc_channels_raw->rssi = mavlink_msg_rc_channels_raw_get_rssi(msg);
#else
memcpy(rc_channels_raw, _MAV_PAYLOAD(msg), 17);
#endif
}

211
libraries/GCS_MAVLink/include/common/mavlink_msg_rc_channels_scaled.h
View File

@ -2,20 +2,38 @@
#define MAVLINK_MSG_ID_RC_CHANNELS_SCALED 36
typedef struct __mavlink_rc_channels_scaled_t
typedef struct __mavlink_rc_channels_scaled_t
{
int16_t chan1_scaled; ///< RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan2_scaled; ///< RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan3_scaled; ///< RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan4_scaled; ///< RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan5_scaled; ///< RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan6_scaled; ///< RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan7_scaled; ///< RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan8_scaled; ///< RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100%
int16_t chan1_scaled; ///< RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan2_scaled; ///< RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan3_scaled; ///< RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan4_scaled; ///< RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan5_scaled; ///< RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan6_scaled; ///< RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan7_scaled; ///< RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan8_scaled; ///< RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100%
} mavlink_rc_channels_scaled_t;
#define MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN 17
#define MAVLINK_MSG_ID_36_LEN 17
#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED { \
"RC_CHANNELS_SCALED", \
9, \
{ { "chan1_scaled", MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_rc_channels_scaled_t, chan1_scaled) }, \
{ "chan2_scaled", MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_rc_channels_scaled_t, chan2_scaled) }, \
{ "chan3_scaled", MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_rc_channels_scaled_t, chan3_scaled) }, \
{ "chan4_scaled", MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_rc_channels_scaled_t, chan4_scaled) }, \
{ "chan5_scaled", MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_rc_channels_scaled_t, chan5_scaled) }, \
{ "chan6_scaled", MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_rc_channels_scaled_t, chan6_scaled) }, \
{ "chan7_scaled", MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_rc_channels_scaled_t, chan7_scaled) }, \
{ "chan8_scaled", MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_rc_channels_scaled_t, chan8_scaled) }, \
{ "rssi", MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rc_channels_scaled_t, rssi) }, \
} \
}
/**
@ -35,26 +53,43 @@ typedef struct __mavlink_rc_channels_scaled_t
* @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi)
static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[17];
_mav_put_int16_t(buf, 0, chan1_scaled);
_mav_put_int16_t(buf, 2, chan2_scaled);
_mav_put_int16_t(buf, 4, chan3_scaled);
_mav_put_int16_t(buf, 6, chan4_scaled);
_mav_put_int16_t(buf, 8, chan5_scaled);
_mav_put_int16_t(buf, 10, chan6_scaled);
_mav_put_int16_t(buf, 12, chan7_scaled);
_mav_put_int16_t(buf, 14, chan8_scaled);
_mav_put_uint8_t(buf, 16, rssi);
memcpy(_MAV_PAYLOAD(msg), buf, 17);
#else
mavlink_rc_channels_scaled_t packet;
packet.chan1_scaled = chan1_scaled;
packet.chan2_scaled = chan2_scaled;
packet.chan3_scaled = chan3_scaled;
packet.chan4_scaled = chan4_scaled;
packet.chan5_scaled = chan5_scaled;
packet.chan6_scaled = chan6_scaled;
packet.chan7_scaled = chan7_scaled;
packet.chan8_scaled = chan8_scaled;
packet.rssi = rssi;
memcpy(_MAV_PAYLOAD(msg), &packet, 17);
#endif
msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED;
i += put_int16_t_by_index(chan1_scaled, i, msg->payload); // RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan2_scaled, i, msg->payload); // RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan3_scaled, i, msg->payload); // RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan4_scaled, i, msg->payload); // RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan5_scaled, i, msg->payload); // RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan6_scaled, i, msg->payload); // RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan7_scaled, i, msg->payload); // RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan8_scaled, i, msg->payload); // RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_uint8_t_by_index(rssi, i, msg->payload); // Receive signal strength indicator, 0: 0%, 255: 100%
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 17);
}
/**
* @brief Pack a rc_channels_scaled message
* @brief Pack a rc_channels_scaled 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
@ -70,22 +105,40 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, ui
* @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rc_channels_scaled_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi)
static inline uint16_t mavlink_msg_rc_channels_scaled_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
int16_t chan1_scaled,int16_t chan2_scaled,int16_t chan3_scaled,int16_t chan4_scaled,int16_t chan5_scaled,int16_t chan6_scaled,int16_t chan7_scaled,int16_t chan8_scaled,uint8_t rssi)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[17];
_mav_put_int16_t(buf, 0, chan1_scaled);
_mav_put_int16_t(buf, 2, chan2_scaled);
_mav_put_int16_t(buf, 4, chan3_scaled);
_mav_put_int16_t(buf, 6, chan4_scaled);
_mav_put_int16_t(buf, 8, chan5_scaled);
_mav_put_int16_t(buf, 10, chan6_scaled);
_mav_put_int16_t(buf, 12, chan7_scaled);
_mav_put_int16_t(buf, 14, chan8_scaled);
_mav_put_uint8_t(buf, 16, rssi);
memcpy(_MAV_PAYLOAD(msg), buf, 17);
#else
mavlink_rc_channels_scaled_t packet;
packet.chan1_scaled = chan1_scaled;
packet.chan2_scaled = chan2_scaled;
packet.chan3_scaled = chan3_scaled;
packet.chan4_scaled = chan4_scaled;
packet.chan5_scaled = chan5_scaled;
packet.chan6_scaled = chan6_scaled;
packet.chan7_scaled = chan7_scaled;
packet.chan8_scaled = chan8_scaled;
packet.rssi = rssi;
memcpy(_MAV_PAYLOAD(msg), &packet, 17);
#endif
msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED;
i += put_int16_t_by_index(chan1_scaled, i, msg->payload); // RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan2_scaled, i, msg->payload); // RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan3_scaled, i, msg->payload); // RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan4_scaled, i, msg->payload); // RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan5_scaled, i, msg->payload); // RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan6_scaled, i, msg->payload); // RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan7_scaled, i, msg->payload); // RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan8_scaled, i, msg->payload); // RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_uint8_t_by_index(rssi, i, msg->payload); // Receive signal strength indicator, 0: 0%, 255: 100%
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 17);
}
/**
@ -119,14 +172,40 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_encode(uint8_t system_id,
static inline void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi)
{
mavlink_message_t msg;
mavlink_msg_rc_channels_scaled_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[17];
_mav_put_int16_t(buf, 0, chan1_scaled);
_mav_put_int16_t(buf, 2, chan2_scaled);
_mav_put_int16_t(buf, 4, chan3_scaled);
_mav_put_int16_t(buf, 6, chan4_scaled);
_mav_put_int16_t(buf, 8, chan5_scaled);
_mav_put_int16_t(buf, 10, chan6_scaled);
_mav_put_int16_t(buf, 12, chan7_scaled);
_mav_put_int16_t(buf, 14, chan8_scaled);
_mav_put_uint8_t(buf, 16, rssi);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, buf, 17);
#else
mavlink_rc_channels_scaled_t packet;
packet.chan1_scaled = chan1_scaled;
packet.chan2_scaled = chan2_scaled;
packet.chan3_scaled = chan3_scaled;
packet.chan4_scaled = chan4_scaled;
packet.chan5_scaled = chan5_scaled;
packet.chan6_scaled = chan6_scaled;
packet.chan7_scaled = chan7_scaled;
packet.chan8_scaled = chan8_scaled;
packet.rssi = rssi;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, (const char *)&packet, 17);
#endif
}
#endif
// MESSAGE RC_CHANNELS_SCALED UNPACKING
/**
* @brief Get field chan1_scaled from rc_channels_scaled message
*
@ -134,10 +213,7 @@ static inline void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, i
*/
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan1_scaled(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload)[0];
r.b[0] = (msg->payload)[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 0);
}
/**
@ -147,10 +223,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan1_scaled(const mavl
*/
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan2_scaled(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 2);
}
/**
@ -160,10 +233,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan2_scaled(const mavl
*/
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan3_scaled(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 4);
}
/**
@ -173,10 +243,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan3_scaled(const mavl
*/
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan4_scaled(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 6);
}
/**
@ -186,10 +253,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan4_scaled(const mavl
*/
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan5_scaled(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 8);
}
/**
@ -199,10 +263,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan5_scaled(const mavl
*/
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan6_scaled(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 10);
}
/**
@ -212,10 +273,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan6_scaled(const mavl
*/
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan7_scaled(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 12);
}
/**
@ -225,10 +283,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan7_scaled(const mavl
*/
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan8_scaled(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 14);
}
/**
@ -238,7 +293,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan8_scaled(const mavl
*/
static inline uint8_t mavlink_msg_rc_channels_scaled_get_rssi(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
return _MAV_RETURN_uint8_t(msg, 16);
}
/**
@ -249,6 +304,7 @@ static inline uint8_t mavlink_msg_rc_channels_scaled_get_rssi(const mavlink_mess
*/
static inline void mavlink_msg_rc_channels_scaled_decode(const mavlink_message_t* msg, mavlink_rc_channels_scaled_t* rc_channels_scaled)
{
#if MAVLINK_NEED_BYTE_SWAP
rc_channels_scaled->chan1_scaled = mavlink_msg_rc_channels_scaled_get_chan1_scaled(msg);
rc_channels_scaled->chan2_scaled = mavlink_msg_rc_channels_scaled_get_chan2_scaled(msg);
rc_channels_scaled->chan3_scaled = mavlink_msg_rc_channels_scaled_get_chan3_scaled(msg);
@ -258,4 +314,7 @@ static inline void mavlink_msg_rc_channels_scaled_decode(const mavlink_message_t
rc_channels_scaled->chan7_scaled = mavlink_msg_rc_channels_scaled_get_chan7_scaled(msg);
rc_channels_scaled->chan8_scaled = mavlink_msg_rc_channels_scaled_get_chan8_scaled(msg);
rc_channels_scaled->rssi = mavlink_msg_rc_channels_scaled_get_rssi(msg);
#else
memcpy(rc_channels_scaled, _MAV_PAYLOAD(msg), 17);
#endif
}

138
libraries/GCS_MAVLink/include/common/mavlink_msg_request_data_stream.h
View File

@ -2,16 +2,30 @@
#define MAVLINK_MSG_ID_REQUEST_DATA_STREAM 66
typedef struct __mavlink_request_data_stream_t
typedef struct __mavlink_request_data_stream_t
{
uint8_t target_system; ///< The target requested to send the message stream.
uint8_t target_component; ///< The target requested to send the message stream.
uint8_t req_stream_id; ///< The ID of the requested message type
uint16_t req_message_rate; ///< Update rate in Hertz
uint8_t start_stop; ///< 1 to start sending, 0 to stop sending.
uint8_t target_system; ///< The target requested to send the message stream.
uint8_t target_component; ///< The target requested to send the message stream.
uint8_t req_stream_id; ///< The ID of the requested message type
uint16_t req_message_rate; ///< Update rate in Hertz
uint8_t start_stop; ///< 1 to start sending, 0 to stop sending.
} mavlink_request_data_stream_t;
#define MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN 6
#define MAVLINK_MSG_ID_66_LEN 6
#define MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM { \
"REQUEST_DATA_STREAM", \
5, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_request_data_stream_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_request_data_stream_t, target_component) }, \
{ "req_stream_id", MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_request_data_stream_t, req_stream_id) }, \
{ "req_message_rate", MAVLINK_TYPE_UINT16_T, 0, 3, offsetof(mavlink_request_data_stream_t, req_message_rate) }, \
{ "start_stop", MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_request_data_stream_t, start_stop) }, \
} \
}
/**
@ -27,22 +41,35 @@ typedef struct __mavlink_request_data_stream_t
* @param start_stop 1 to start sending, 0 to stop sending.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop)
static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[6];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, req_stream_id);
_mav_put_uint16_t(buf, 3, req_message_rate);
_mav_put_uint8_t(buf, 5, start_stop);
memcpy(_MAV_PAYLOAD(msg), buf, 6);
#else
mavlink_request_data_stream_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.req_stream_id = req_stream_id;
packet.req_message_rate = req_message_rate;
packet.start_stop = start_stop;
memcpy(_MAV_PAYLOAD(msg), &packet, 6);
#endif
msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM;
i += put_uint8_t_by_index(target_system, i, msg->payload); // The target requested to send the message stream.
i += put_uint8_t_by_index(target_component, i, msg->payload); // The target requested to send the message stream.
i += put_uint8_t_by_index(req_stream_id, i, msg->payload); // The ID of the requested message type
i += put_uint16_t_by_index(req_message_rate, i, msg->payload); // Update rate in Hertz
i += put_uint8_t_by_index(start_stop, i, msg->payload); // 1 to start sending, 0 to stop sending.
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 6);
}
/**
* @brief Pack a request_data_stream message
* @brief Pack a request_data_stream 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
@ -54,18 +81,32 @@ static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, u
* @param start_stop 1 to start sending, 0 to stop sending.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_request_data_stream_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 req_stream_id, uint16_t req_message_rate, uint8_t start_stop)
static inline uint16_t mavlink_msg_request_data_stream_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 req_stream_id,uint16_t req_message_rate,uint8_t start_stop)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[6];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, req_stream_id);
_mav_put_uint16_t(buf, 3, req_message_rate);
_mav_put_uint8_t(buf, 5, start_stop);
memcpy(_MAV_PAYLOAD(msg), buf, 6);
#else
mavlink_request_data_stream_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.req_stream_id = req_stream_id;
packet.req_message_rate = req_message_rate;
packet.start_stop = start_stop;
memcpy(_MAV_PAYLOAD(msg), &packet, 6);
#endif
msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM;
i += put_uint8_t_by_index(target_system, i, msg->payload); // The target requested to send the message stream.
i += put_uint8_t_by_index(target_component, i, msg->payload); // The target requested to send the message stream.
i += put_uint8_t_by_index(req_stream_id, i, msg->payload); // The ID of the requested message type
i += put_uint16_t_by_index(req_message_rate, i, msg->payload); // Update rate in Hertz
i += put_uint8_t_by_index(start_stop, i, msg->payload); // 1 to start sending, 0 to stop sending.
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6);
}
/**
@ -95,14 +136,32 @@ static inline uint16_t mavlink_msg_request_data_stream_encode(uint8_t system_id,
static inline void mavlink_msg_request_data_stream_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop)
{
mavlink_message_t msg;
mavlink_msg_request_data_stream_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, req_stream_id, req_message_rate, start_stop);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[6];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, req_stream_id);
_mav_put_uint16_t(buf, 3, req_message_rate);
_mav_put_uint8_t(buf, 5, start_stop);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, buf, 6);
#else
mavlink_request_data_stream_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.req_stream_id = req_stream_id;
packet.req_message_rate = req_message_rate;
packet.start_stop = start_stop;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, (const char *)&packet, 6);
#endif
}
#endif
// MESSAGE REQUEST_DATA_STREAM UNPACKING
/**
* @brief Get field target_system from request_data_stream message
*
@ -110,7 +169,7 @@ static inline void mavlink_msg_request_data_stream_send(mavlink_channel_t chan,
*/
static inline uint8_t mavlink_msg_request_data_stream_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -120,7 +179,7 @@ static inline uint8_t mavlink_msg_request_data_stream_get_target_system(const ma
*/
static inline uint8_t mavlink_msg_request_data_stream_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -130,7 +189,7 @@ static inline uint8_t mavlink_msg_request_data_stream_get_target_component(const
*/
static inline uint8_t mavlink_msg_request_data_stream_get_req_stream_id(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
@ -140,10 +199,7 @@ static inline uint8_t mavlink_msg_request_data_stream_get_req_stream_id(const ma
*/
static inline uint16_t mavlink_msg_request_data_stream_get_req_message_rate(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 3);
}
/**
@ -153,7 +209,7 @@ static inline uint16_t mavlink_msg_request_data_stream_get_req_message_rate(cons
*/
static inline uint8_t mavlink_msg_request_data_stream_get_start_stop(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0];
return _MAV_RETURN_uint8_t(msg, 5);
}
/**
@ -164,9 +220,13 @@ static inline uint8_t mavlink_msg_request_data_stream_get_start_stop(const mavli
*/
static inline void mavlink_msg_request_data_stream_decode(const mavlink_message_t* msg, mavlink_request_data_stream_t* request_data_stream)
{
#if MAVLINK_NEED_BYTE_SWAP
request_data_stream->target_system = mavlink_msg_request_data_stream_get_target_system(msg);
request_data_stream->target_component = mavlink_msg_request_data_stream_get_target_component(msg);
request_data_stream->req_stream_id = mavlink_msg_request_data_stream_get_req_stream_id(msg);
request_data_stream->req_message_rate = mavlink_msg_request_data_stream_get_req_message_rate(msg);
request_data_stream->start_stop = mavlink_msg_request_data_stream_get_start_stop(msg);
#else
memcpy(request_data_stream, _MAV_PAYLOAD(msg), 6);
#endif
}

178
libraries/GCS_MAVLink/include/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h
View File

@ -2,16 +2,30 @@
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT 58
typedef struct __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t
typedef struct __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t
{
uint32_t time_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
uint64_t time_us; ///< Timestamp in micro seconds since unix epoch
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 24
#define MAVLINK_MSG_ID_58_LEN 24
#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT { \
"ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT", \
5, \
{ { "time_us", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, time_us) }, \
{ "roll_speed", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, roll_speed) }, \
{ "pitch_speed", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, pitch_speed) }, \
{ "yaw_speed", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, yaw_speed) }, \
{ "thrust", MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, thrust) }, \
} \
}
/**
@ -20,52 +34,79 @@ typedef struct __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param time_ms Timestamp in milliseconds since system boot
* @param time_us Timestamp in micro seconds since unix epoch
* @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_ms, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
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,
uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[24];
_mav_put_uint64_t(buf, 0, time_us);
_mav_put_float(buf, 8, roll_speed);
_mav_put_float(buf, 12, pitch_speed);
_mav_put_float(buf, 16, yaw_speed);
_mav_put_float(buf, 20, thrust);
memcpy(_MAV_PAYLOAD(msg), buf, 24);
#else
mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
packet.time_us = time_us;
packet.roll_speed = roll_speed;
packet.pitch_speed = pitch_speed;
packet.yaw_speed = yaw_speed;
packet.thrust = thrust;
memcpy(_MAV_PAYLOAD(msg), &packet, 24);
#endif
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
i += put_uint32_t_by_index(time_ms, i, msg->payload); // Timestamp in milliseconds since system boot
i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s
i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s
i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s
i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 24);
}
/**
* @brief Pack a roll_pitch_yaw_speed_thrust_setpoint message
* @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_ms Timestamp in milliseconds since system boot
* @param time_us Timestamp in micro seconds since unix epoch
* @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_ms, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
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,
uint64_t time_us,float roll_speed,float pitch_speed,float yaw_speed,float thrust)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[24];
_mav_put_uint64_t(buf, 0, time_us);
_mav_put_float(buf, 8, roll_speed);
_mav_put_float(buf, 12, pitch_speed);
_mav_put_float(buf, 16, yaw_speed);
_mav_put_float(buf, 20, thrust);
memcpy(_MAV_PAYLOAD(msg), buf, 24);
#else
mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
packet.time_us = time_us;
packet.roll_speed = roll_speed;
packet.pitch_speed = pitch_speed;
packet.yaw_speed = yaw_speed;
packet.thrust = thrust;
memcpy(_MAV_PAYLOAD(msg), &packet, 24);
#endif
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
i += put_uint32_t_by_index(time_ms, i, msg->payload); // Timestamp in milliseconds since system boot
i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s
i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s
i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s
i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24);
}
/**
@ -78,14 +119,14 @@ static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_cha
*/
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_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);
return mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_speed_thrust_setpoint->time_us, 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_ms Timestamp in milliseconds since system boot
* @param time_us Timestamp in micro seconds since unix epoch
* @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
@ -93,29 +134,42 @@ static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(u
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(mavlink_channel_t chan, uint32_t time_ms, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(mavlink_channel_t chan, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
{
mavlink_message_t msg;
mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_ms, roll_speed, pitch_speed, yaw_speed, thrust);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[24];
_mav_put_uint64_t(buf, 0, time_us);
_mav_put_float(buf, 8, roll_speed);
_mav_put_float(buf, 12, pitch_speed);
_mav_put_float(buf, 16, yaw_speed);
_mav_put_float(buf, 20, thrust);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, buf, 24);
#else
mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
packet.time_us = time_us;
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, 24);
#endif
}
#endif
// MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT UNPACKING
/**
* @brief Get field time_ms from roll_pitch_yaw_speed_thrust_setpoint message
* @brief Get field time_us from roll_pitch_yaw_speed_thrust_setpoint message
*
* @return Timestamp in milliseconds since system boot
* @return Timestamp in micro seconds since unix epoch
*/
static inline uint32_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_ms(const mavlink_message_t* msg)
static inline uint64_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_us(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (uint32_t)r.i;
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
@ -125,12 +179,7 @@ static inline uint32_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time
*/
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint32_t))[0];
r.b[2] = (msg->payload+sizeof(uint32_t))[1];
r.b[1] = (msg->payload+sizeof(uint32_t))[2];
r.b[0] = (msg->payload+sizeof(uint32_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 8);
}
/**
@ -140,12 +189,7 @@ static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_sp
*/
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 12);
}
/**
@ -155,12 +199,7 @@ static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_s
*/
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 16);
}
/**
@ -170,12 +209,7 @@ static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_spe
*/
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 20);
}
/**
@ -186,9 +220,13 @@ static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(
*/
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)
{
roll_pitch_yaw_speed_thrust_setpoint->time_ms = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_ms(msg);
#if MAVLINK_NEED_BYTE_SWAP
roll_pitch_yaw_speed_thrust_setpoint->time_us = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_us(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), 24);
#endif
}

178
libraries/GCS_MAVLink/include/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h
View File

@ -2,16 +2,30 @@
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT 57
typedef struct __mavlink_roll_pitch_yaw_thrust_setpoint_t
typedef struct __mavlink_roll_pitch_yaw_thrust_setpoint_t
{
uint32_t time_ms; ///< Timestamp in milliseconds since system boot
float roll; ///< Desired roll angle in radians
float pitch; ///< Desired pitch angle in radians
float yaw; ///< Desired yaw angle in radians
float thrust; ///< Collective thrust, normalized to 0 .. 1
uint64_t time_us; ///< Timestamp in micro seconds since unix epoch
float roll; ///< Desired roll angle in radians
float pitch; ///< Desired pitch angle in radians
float yaw; ///< Desired yaw angle in radians
float thrust; ///< Collective thrust, normalized to 0 .. 1
} mavlink_roll_pitch_yaw_thrust_setpoint_t;
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN 24
#define MAVLINK_MSG_ID_57_LEN 24
#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT { \
"ROLL_PITCH_YAW_THRUST_SETPOINT", \
5, \
{ { "time_us", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, time_us) }, \
{ "roll", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, roll) }, \
{ "pitch", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, pitch) }, \
{ "yaw", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, yaw) }, \
{ "thrust", MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, thrust) }, \
} \
}
/**
@ -20,52 +34,79 @@ typedef struct __mavlink_roll_pitch_yaw_thrust_setpoint_t
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param time_ms Timestamp in milliseconds since system boot
* @param time_us Timestamp in micro seconds since unix epoch
* @param roll Desired roll angle in radians
* @param pitch Desired pitch angle in radians
* @param yaw Desired yaw angle in radians
* @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_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t time_ms, float roll, float pitch, float yaw, float thrust)
static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_us, float roll, float pitch, float yaw, float thrust)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[24];
_mav_put_uint64_t(buf, 0, time_us);
_mav_put_float(buf, 8, roll);
_mav_put_float(buf, 12, pitch);
_mav_put_float(buf, 16, yaw);
_mav_put_float(buf, 20, thrust);
memcpy(_MAV_PAYLOAD(msg), buf, 24);
#else
mavlink_roll_pitch_yaw_thrust_setpoint_t packet;
packet.time_us = time_us;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
memcpy(_MAV_PAYLOAD(msg), &packet, 24);
#endif
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;
i += put_uint32_t_by_index(time_ms, i, msg->payload); // Timestamp in milliseconds since system boot
i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians
i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians
i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians
i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 24);
}
/**
* @brief Pack a roll_pitch_yaw_thrust_setpoint message
* @brief Pack a roll_pitch_yaw_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_ms Timestamp in milliseconds since system boot
* @param time_us Timestamp in micro seconds since unix epoch
* @param roll Desired roll angle in radians
* @param pitch Desired pitch angle in radians
* @param yaw Desired yaw angle in radians
* @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_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t time_ms, float roll, float pitch, float yaw, float thrust)
static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_us,float roll,float pitch,float yaw,float thrust)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[24];
_mav_put_uint64_t(buf, 0, time_us);
_mav_put_float(buf, 8, roll);
_mav_put_float(buf, 12, pitch);
_mav_put_float(buf, 16, yaw);
_mav_put_float(buf, 20, thrust);
memcpy(_MAV_PAYLOAD(msg), buf, 24);
#else
mavlink_roll_pitch_yaw_thrust_setpoint_t packet;
packet.time_us = time_us;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
memcpy(_MAV_PAYLOAD(msg), &packet, 24);
#endif
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;
i += put_uint32_t_by_index(time_ms, i, msg->payload); // Timestamp in milliseconds since system boot
i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians
i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians
i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians
i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24);
}
/**
@ -78,14 +119,14 @@ static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(uint
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint)
{
return mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_thrust_setpoint->time_ms, roll_pitch_yaw_thrust_setpoint->roll, roll_pitch_yaw_thrust_setpoint->pitch, roll_pitch_yaw_thrust_setpoint->yaw, roll_pitch_yaw_thrust_setpoint->thrust);
return mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_thrust_setpoint->time_us, roll_pitch_yaw_thrust_setpoint->roll, roll_pitch_yaw_thrust_setpoint->pitch, roll_pitch_yaw_thrust_setpoint->yaw, roll_pitch_yaw_thrust_setpoint->thrust);
}
/**
* @brief Send a roll_pitch_yaw_thrust_setpoint message
* @param chan MAVLink channel to send the message
*
* @param time_ms Timestamp in milliseconds since system boot
* @param time_us Timestamp in micro seconds since unix epoch
* @param roll Desired roll angle in radians
* @param pitch Desired pitch angle in radians
* @param yaw Desired yaw angle in radians
@ -93,29 +134,42 @@ static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode(uint8_t
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(mavlink_channel_t chan, uint32_t time_ms, float roll, float pitch, float yaw, float thrust)
static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(mavlink_channel_t chan, uint64_t time_us, float roll, float pitch, float yaw, float thrust)
{
mavlink_message_t msg;
mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_ms, roll, pitch, yaw, thrust);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[24];
_mav_put_uint64_t(buf, 0, time_us);
_mav_put_float(buf, 8, roll);
_mav_put_float(buf, 12, pitch);
_mav_put_float(buf, 16, yaw);
_mav_put_float(buf, 20, thrust);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, buf, 24);
#else
mavlink_roll_pitch_yaw_thrust_setpoint_t packet;
packet.time_us = time_us;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, (const char *)&packet, 24);
#endif
}
#endif
// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT UNPACKING
/**
* @brief Get field time_ms from roll_pitch_yaw_thrust_setpoint message
* @brief Get field time_us from roll_pitch_yaw_thrust_setpoint message
*
* @return Timestamp in milliseconds since system boot
* @return Timestamp in micro seconds since unix epoch
*/
static inline uint32_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_ms(const mavlink_message_t* msg)
static inline uint64_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_us(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (uint32_t)r.i;
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
@ -125,12 +179,7 @@ static inline uint32_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_ms(co
*/
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint32_t))[0];
r.b[2] = (msg->payload+sizeof(uint32_t))[1];
r.b[1] = (msg->payload+sizeof(uint32_t))[2];
r.b[0] = (msg->payload+sizeof(uint32_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 8);
}
/**
@ -140,12 +189,7 @@ static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(const ma
*/
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 12);
}
/**
@ -155,12 +199,7 @@ static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(const m
*/
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 16);
}
/**
@ -170,12 +209,7 @@ static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(const mav
*/
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 20);
}
/**
@ -186,9 +220,13 @@ static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(const
*/
static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint)
{
roll_pitch_yaw_thrust_setpoint->time_ms = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_ms(msg);
#if MAVLINK_NEED_BYTE_SWAP
roll_pitch_yaw_thrust_setpoint->time_us = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_us(msg);
roll_pitch_yaw_thrust_setpoint->roll = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(msg);
roll_pitch_yaw_thrust_setpoint->pitch = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(msg);
roll_pitch_yaw_thrust_setpoint->yaw = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(msg);
roll_pitch_yaw_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(msg);
#else
memcpy(roll_pitch_yaw_thrust_setpoint, _MAV_PAYLOAD(msg), 24);
#endif
}

191
libraries/GCS_MAVLink/include/common/mavlink_msg_safety_allowed_area.h
View File

@ -2,18 +2,34 @@
#define MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA 54
typedef struct __mavlink_safety_allowed_area_t
typedef struct __mavlink_safety_allowed_area_t
{
uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
float p1x; ///< x position 1 / Latitude 1
float p1y; ///< y position 1 / Longitude 1
float p1z; ///< z position 1 / Altitude 1
float p2x; ///< x position 2 / Latitude 2
float p2y; ///< y position 2 / Longitude 2
float p2z; ///< z position 2 / Altitude 2
uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
float p1x; ///< x position 1 / Latitude 1
float p1y; ///< y position 1 / Longitude 1
float p1z; ///< z position 1 / Altitude 1
float p2x; ///< x position 2 / Latitude 2
float p2y; ///< y position 2 / Longitude 2
float p2z; ///< z position 2 / Altitude 2
} mavlink_safety_allowed_area_t;
#define MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN 25
#define MAVLINK_MSG_ID_54_LEN 25
#define MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA { \
"SAFETY_ALLOWED_AREA", \
7, \
{ { "frame", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_safety_allowed_area_t, frame) }, \
{ "p1x", MAVLINK_TYPE_FLOAT, 0, 1, offsetof(mavlink_safety_allowed_area_t, p1x) }, \
{ "p1y", MAVLINK_TYPE_FLOAT, 0, 5, offsetof(mavlink_safety_allowed_area_t, p1y) }, \
{ "p1z", MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_safety_allowed_area_t, p1z) }, \
{ "p2x", MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_safety_allowed_area_t, p2x) }, \
{ "p2y", MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_safety_allowed_area_t, p2y) }, \
{ "p2z", MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_safety_allowed_area_t, p2z) }, \
} \
}
/**
@ -31,24 +47,39 @@ typedef struct __mavlink_safety_allowed_area_t
* @param p2z z position 2 / Altitude 2
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_safety_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
static inline uint16_t mavlink_msg_safety_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[25];
_mav_put_uint8_t(buf, 0, frame);
_mav_put_float(buf, 1, p1x);
_mav_put_float(buf, 5, p1y);
_mav_put_float(buf, 9, p1z);
_mav_put_float(buf, 13, p2x);
_mav_put_float(buf, 17, p2y);
_mav_put_float(buf, 21, p2z);
memcpy(_MAV_PAYLOAD(msg), buf, 25);
#else
mavlink_safety_allowed_area_t packet;
packet.frame = frame;
packet.p1x = p1x;
packet.p1y = p1y;
packet.p1z = p1z;
packet.p2x = p2x;
packet.p2y = p2y;
packet.p2z = p2z;
memcpy(_MAV_PAYLOAD(msg), &packet, 25);
#endif
msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA;
i += put_uint8_t_by_index(frame, i, msg->payload); // Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
i += put_float_by_index(p1x, i, msg->payload); // x position 1 / Latitude 1
i += put_float_by_index(p1y, i, msg->payload); // y position 1 / Longitude 1
i += put_float_by_index(p1z, i, msg->payload); // z position 1 / Altitude 1
i += put_float_by_index(p2x, i, msg->payload); // x position 2 / Latitude 2
i += put_float_by_index(p2y, i, msg->payload); // y position 2 / Longitude 2
i += put_float_by_index(p2z, i, msg->payload); // z position 2 / Altitude 2
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 25);
}
/**
* @brief Pack a safety_allowed_area message
* @brief Pack a safety_allowed_area 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
@ -62,20 +93,36 @@ static inline uint16_t mavlink_msg_safety_allowed_area_pack(uint8_t system_id, u
* @param p2z z position 2 / Altitude 2
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_safety_allowed_area_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
static inline uint16_t mavlink_msg_safety_allowed_area_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t frame,float p1x,float p1y,float p1z,float p2x,float p2y,float p2z)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[25];
_mav_put_uint8_t(buf, 0, frame);
_mav_put_float(buf, 1, p1x);
_mav_put_float(buf, 5, p1y);
_mav_put_float(buf, 9, p1z);
_mav_put_float(buf, 13, p2x);
_mav_put_float(buf, 17, p2y);
_mav_put_float(buf, 21, p2z);
memcpy(_MAV_PAYLOAD(msg), buf, 25);
#else
mavlink_safety_allowed_area_t packet;
packet.frame = frame;
packet.p1x = p1x;
packet.p1y = p1y;
packet.p1z = p1z;
packet.p2x = p2x;
packet.p2y = p2y;
packet.p2z = p2z;
memcpy(_MAV_PAYLOAD(msg), &packet, 25);
#endif
msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA;
i += put_uint8_t_by_index(frame, i, msg->payload); // Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
i += put_float_by_index(p1x, i, msg->payload); // x position 1 / Latitude 1
i += put_float_by_index(p1y, i, msg->payload); // y position 1 / Longitude 1
i += put_float_by_index(p1z, i, msg->payload); // z position 1 / Altitude 1
i += put_float_by_index(p2x, i, msg->payload); // x position 2 / Latitude 2
i += put_float_by_index(p2y, i, msg->payload); // y position 2 / Longitude 2
i += put_float_by_index(p2z, i, msg->payload); // z position 2 / Altitude 2
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 25);
}
/**
@ -107,14 +154,36 @@ static inline uint16_t mavlink_msg_safety_allowed_area_encode(uint8_t system_id,
static inline void mavlink_msg_safety_allowed_area_send(mavlink_channel_t chan, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
{
mavlink_message_t msg;
mavlink_msg_safety_allowed_area_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, frame, p1x, p1y, p1z, p2x, p2y, p2z);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[25];
_mav_put_uint8_t(buf, 0, frame);
_mav_put_float(buf, 1, p1x);
_mav_put_float(buf, 5, p1y);
_mav_put_float(buf, 9, p1z);
_mav_put_float(buf, 13, p2x);
_mav_put_float(buf, 17, p2y);
_mav_put_float(buf, 21, p2z);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, buf, 25);
#else
mavlink_safety_allowed_area_t packet;
packet.frame = frame;
packet.p1x = p1x;
packet.p1y = p1y;
packet.p1z = p1z;
packet.p2x = p2x;
packet.p2y = p2y;
packet.p2z = p2z;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, (const char *)&packet, 25);
#endif
}
#endif
// MESSAGE SAFETY_ALLOWED_AREA UNPACKING
/**
* @brief Get field frame from safety_allowed_area message
*
@ -122,7 +191,7 @@ static inline void mavlink_msg_safety_allowed_area_send(mavlink_channel_t chan,
*/
static inline uint8_t mavlink_msg_safety_allowed_area_get_frame(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -132,12 +201,7 @@ static inline uint8_t mavlink_msg_safety_allowed_area_get_frame(const mavlink_me
*/
static inline float mavlink_msg_safety_allowed_area_get_p1x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 1);
}
/**
@ -147,12 +211,7 @@ static inline float mavlink_msg_safety_allowed_area_get_p1x(const mavlink_messag
*/
static inline float mavlink_msg_safety_allowed_area_get_p1y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 5);
}
/**
@ -162,12 +221,7 @@ static inline float mavlink_msg_safety_allowed_area_get_p1y(const mavlink_messag
*/
static inline float mavlink_msg_safety_allowed_area_get_p1z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 9);
}
/**
@ -177,12 +231,7 @@ static inline float mavlink_msg_safety_allowed_area_get_p1z(const mavlink_messag
*/
static inline float mavlink_msg_safety_allowed_area_get_p2x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 13);
}
/**
@ -192,12 +241,7 @@ static inline float mavlink_msg_safety_allowed_area_get_p2x(const mavlink_messag
*/
static inline float mavlink_msg_safety_allowed_area_get_p2y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 17);
}
/**
@ -207,12 +251,7 @@ static inline float mavlink_msg_safety_allowed_area_get_p2y(const mavlink_messag
*/
static inline float mavlink_msg_safety_allowed_area_get_p2z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 21);
}
/**
@ -223,6 +262,7 @@ static inline float mavlink_msg_safety_allowed_area_get_p2z(const mavlink_messag
*/
static inline void mavlink_msg_safety_allowed_area_decode(const mavlink_message_t* msg, mavlink_safety_allowed_area_t* safety_allowed_area)
{
#if MAVLINK_NEED_BYTE_SWAP
safety_allowed_area->frame = mavlink_msg_safety_allowed_area_get_frame(msg);
safety_allowed_area->p1x = mavlink_msg_safety_allowed_area_get_p1x(msg);
safety_allowed_area->p1y = mavlink_msg_safety_allowed_area_get_p1y(msg);
@ -230,4 +270,7 @@ static inline void mavlink_msg_safety_allowed_area_decode(const mavlink_message_
safety_allowed_area->p2x = mavlink_msg_safety_allowed_area_get_p2x(msg);
safety_allowed_area->p2y = mavlink_msg_safety_allowed_area_get_p2y(msg);
safety_allowed_area->p2z = mavlink_msg_safety_allowed_area_get_p2z(msg);
#else
memcpy(safety_allowed_area, _MAV_PAYLOAD(msg), 25);
#endif
}

217
libraries/GCS_MAVLink/include/common/mavlink_msg_safety_set_allowed_area.h
View File

@ -2,20 +2,38 @@
#define MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA 53
typedef struct __mavlink_safety_set_allowed_area_t
typedef struct __mavlink_safety_set_allowed_area_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
float p1x; ///< x position 1 / Latitude 1
float p1y; ///< y position 1 / Longitude 1
float p1z; ///< z position 1 / Altitude 1
float p2x; ///< x position 2 / Latitude 2
float p2y; ///< y position 2 / Longitude 2
float p2z; ///< z position 2 / Altitude 2
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
float p1x; ///< x position 1 / Latitude 1
float p1y; ///< y position 1 / Longitude 1
float p1z; ///< z position 1 / Altitude 1
float p2x; ///< x position 2 / Latitude 2
float p2y; ///< y position 2 / Longitude 2
float p2z; ///< z position 2 / Altitude 2
} mavlink_safety_set_allowed_area_t;
#define MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN 27
#define MAVLINK_MSG_ID_53_LEN 27
#define MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA { \
"SAFETY_SET_ALLOWED_AREA", \
9, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_safety_set_allowed_area_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_safety_set_allowed_area_t, target_component) }, \
{ "frame", MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_safety_set_allowed_area_t, frame) }, \
{ "p1x", MAVLINK_TYPE_FLOAT, 0, 3, offsetof(mavlink_safety_set_allowed_area_t, p1x) }, \
{ "p1y", MAVLINK_TYPE_FLOAT, 0, 7, offsetof(mavlink_safety_set_allowed_area_t, p1y) }, \
{ "p1z", MAVLINK_TYPE_FLOAT, 0, 11, offsetof(mavlink_safety_set_allowed_area_t, p1z) }, \
{ "p2x", MAVLINK_TYPE_FLOAT, 0, 15, offsetof(mavlink_safety_set_allowed_area_t, p2x) }, \
{ "p2y", MAVLINK_TYPE_FLOAT, 0, 19, offsetof(mavlink_safety_set_allowed_area_t, p2y) }, \
{ "p2z", MAVLINK_TYPE_FLOAT, 0, 23, offsetof(mavlink_safety_set_allowed_area_t, p2z) }, \
} \
}
/**
@ -35,26 +53,43 @@ typedef struct __mavlink_safety_set_allowed_area_t
* @param p2z z position 2 / Altitude 2
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_safety_set_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
static inline uint16_t mavlink_msg_safety_set_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[27];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, frame);
_mav_put_float(buf, 3, p1x);
_mav_put_float(buf, 7, p1y);
_mav_put_float(buf, 11, p1z);
_mav_put_float(buf, 15, p2x);
_mav_put_float(buf, 19, p2y);
_mav_put_float(buf, 23, p2z);
memcpy(_MAV_PAYLOAD(msg), buf, 27);
#else
mavlink_safety_set_allowed_area_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.frame = frame;
packet.p1x = p1x;
packet.p1y = p1y;
packet.p1z = p1z;
packet.p2x = p2x;
packet.p2y = p2y;
packet.p2z = p2z;
memcpy(_MAV_PAYLOAD(msg), &packet, 27);
#endif
msg->msgid = MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_uint8_t_by_index(frame, i, msg->payload); // Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
i += put_float_by_index(p1x, i, msg->payload); // x position 1 / Latitude 1
i += put_float_by_index(p1y, i, msg->payload); // y position 1 / Longitude 1
i += put_float_by_index(p1z, i, msg->payload); // z position 1 / Altitude 1
i += put_float_by_index(p2x, i, msg->payload); // x position 2 / Latitude 2
i += put_float_by_index(p2y, i, msg->payload); // y position 2 / Longitude 2
i += put_float_by_index(p2z, i, msg->payload); // z position 2 / Altitude 2
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 27);
}
/**
* @brief Pack a safety_set_allowed_area message
* @brief Pack a safety_set_allowed_area 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
@ -70,22 +105,40 @@ static inline uint16_t mavlink_msg_safety_set_allowed_area_pack(uint8_t system_i
* @param p2z z position 2 / Altitude 2
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_safety_set_allowed_area_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 frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
static inline uint16_t mavlink_msg_safety_set_allowed_area_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 frame,float p1x,float p1y,float p1z,float p2x,float p2y,float p2z)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[27];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, frame);
_mav_put_float(buf, 3, p1x);
_mav_put_float(buf, 7, p1y);
_mav_put_float(buf, 11, p1z);
_mav_put_float(buf, 15, p2x);
_mav_put_float(buf, 19, p2y);
_mav_put_float(buf, 23, p2z);
memcpy(_MAV_PAYLOAD(msg), buf, 27);
#else
mavlink_safety_set_allowed_area_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.frame = frame;
packet.p1x = p1x;
packet.p1y = p1y;
packet.p1z = p1z;
packet.p2x = p2x;
packet.p2y = p2y;
packet.p2z = p2z;
memcpy(_MAV_PAYLOAD(msg), &packet, 27);
#endif
msg->msgid = MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_uint8_t_by_index(frame, i, msg->payload); // Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
i += put_float_by_index(p1x, i, msg->payload); // x position 1 / Latitude 1
i += put_float_by_index(p1y, i, msg->payload); // y position 1 / Longitude 1
i += put_float_by_index(p1z, i, msg->payload); // z position 1 / Altitude 1
i += put_float_by_index(p2x, i, msg->payload); // x position 2 / Latitude 2
i += put_float_by_index(p2y, i, msg->payload); // y position 2 / Longitude 2
i += put_float_by_index(p2z, i, msg->payload); // z position 2 / Altitude 2
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 27);
}
/**
@ -119,14 +172,40 @@ static inline uint16_t mavlink_msg_safety_set_allowed_area_encode(uint8_t system
static inline void mavlink_msg_safety_set_allowed_area_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
{
mavlink_message_t msg;
mavlink_msg_safety_set_allowed_area_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[27];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, frame);
_mav_put_float(buf, 3, p1x);
_mav_put_float(buf, 7, p1y);
_mav_put_float(buf, 11, p1z);
_mav_put_float(buf, 15, p2x);
_mav_put_float(buf, 19, p2y);
_mav_put_float(buf, 23, p2z);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, buf, 27);
#else
mavlink_safety_set_allowed_area_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.frame = frame;
packet.p1x = p1x;
packet.p1y = p1y;
packet.p1z = p1z;
packet.p2x = p2x;
packet.p2y = p2y;
packet.p2z = p2z;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, (const char *)&packet, 27);
#endif
}
#endif
// MESSAGE SAFETY_SET_ALLOWED_AREA UNPACKING
/**
* @brief Get field target_system from safety_set_allowed_area message
*
@ -134,7 +213,7 @@ static inline void mavlink_msg_safety_set_allowed_area_send(mavlink_channel_t ch
*/
static inline uint8_t mavlink_msg_safety_set_allowed_area_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -144,7 +223,7 @@ static inline uint8_t mavlink_msg_safety_set_allowed_area_get_target_system(cons
*/
static inline uint8_t mavlink_msg_safety_set_allowed_area_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -154,7 +233,7 @@ static inline uint8_t mavlink_msg_safety_set_allowed_area_get_target_component(c
*/
static inline uint8_t mavlink_msg_safety_set_allowed_area_get_frame(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
@ -164,12 +243,7 @@ static inline uint8_t mavlink_msg_safety_set_allowed_area_get_frame(const mavlin
*/
static inline float mavlink_msg_safety_set_allowed_area_get_p1x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 3);
}
/**
@ -179,12 +253,7 @@ static inline float mavlink_msg_safety_set_allowed_area_get_p1x(const mavlink_me
*/
static inline float mavlink_msg_safety_set_allowed_area_get_p1y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 7);
}
/**
@ -194,12 +263,7 @@ static inline float mavlink_msg_safety_set_allowed_area_get_p1y(const mavlink_me
*/
static inline float mavlink_msg_safety_set_allowed_area_get_p1z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 11);
}
/**
@ -209,12 +273,7 @@ static inline float mavlink_msg_safety_set_allowed_area_get_p1z(const mavlink_me
*/
static inline float mavlink_msg_safety_set_allowed_area_get_p2x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 15);
}
/**
@ -224,12 +283,7 @@ static inline float mavlink_msg_safety_set_allowed_area_get_p2x(const mavlink_me
*/
static inline float mavlink_msg_safety_set_allowed_area_get_p2y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 19);
}
/**
@ -239,12 +293,7 @@ static inline float mavlink_msg_safety_set_allowed_area_get_p2y(const mavlink_me
*/
static inline float mavlink_msg_safety_set_allowed_area_get_p2z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 23);
}
/**
@ -255,6 +304,7 @@ static inline float mavlink_msg_safety_set_allowed_area_get_p2z(const mavlink_me
*/
static inline void mavlink_msg_safety_set_allowed_area_decode(const mavlink_message_t* msg, mavlink_safety_set_allowed_area_t* safety_set_allowed_area)
{
#if MAVLINK_NEED_BYTE_SWAP
safety_set_allowed_area->target_system = mavlink_msg_safety_set_allowed_area_get_target_system(msg);
safety_set_allowed_area->target_component = mavlink_msg_safety_set_allowed_area_get_target_component(msg);
safety_set_allowed_area->frame = mavlink_msg_safety_set_allowed_area_get_frame(msg);
@ -264,4 +314,7 @@ static inline void mavlink_msg_safety_set_allowed_area_decode(const mavlink_mess
safety_set_allowed_area->p2x = mavlink_msg_safety_set_allowed_area_get_p2x(msg);
safety_set_allowed_area->p2y = mavlink_msg_safety_set_allowed_area_get_p2y(msg);
safety_set_allowed_area->p2z = mavlink_msg_safety_set_allowed_area_get_p2z(msg);
#else
memcpy(safety_set_allowed_area, _MAV_PAYLOAD(msg), 27);
#endif
}

236
libraries/GCS_MAVLink/include/common/mavlink_msg_scaled_imu.h
View File

@ -2,21 +2,40 @@
#define MAVLINK_MSG_ID_SCALED_IMU 26
typedef struct __mavlink_scaled_imu_t
typedef struct __mavlink_scaled_imu_t
{
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
int16_t xacc; ///< X acceleration (mg)
int16_t yacc; ///< Y acceleration (mg)
int16_t zacc; ///< Z acceleration (mg)
int16_t xgyro; ///< Angular speed around X axis (millirad /sec)
int16_t ygyro; ///< Angular speed around Y axis (millirad /sec)
int16_t zgyro; ///< Angular speed around Z axis (millirad /sec)
int16_t xmag; ///< X Magnetic field (milli tesla)
int16_t ymag; ///< Y Magnetic field (milli tesla)
int16_t zmag; ///< Z Magnetic field (milli tesla)
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
int16_t xacc; ///< X acceleration (mg)
int16_t yacc; ///< Y acceleration (mg)
int16_t zacc; ///< Z acceleration (mg)
int16_t xgyro; ///< Angular speed around X axis (millirad /sec)
int16_t ygyro; ///< Angular speed around Y axis (millirad /sec)
int16_t zgyro; ///< Angular speed around Z axis (millirad /sec)
int16_t xmag; ///< X Magnetic field (milli tesla)
int16_t ymag; ///< Y Magnetic field (milli tesla)
int16_t zmag; ///< Z Magnetic field (milli tesla)
} mavlink_scaled_imu_t;
#define MAVLINK_MSG_ID_SCALED_IMU_LEN 26
#define MAVLINK_MSG_ID_26_LEN 26
#define MAVLINK_MESSAGE_INFO_SCALED_IMU { \
"SCALED_IMU", \
10, \
{ { "usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_scaled_imu_t, usec) }, \
{ "xacc", MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu_t, xacc) }, \
{ "yacc", MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu_t, yacc) }, \
{ "zacc", MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu_t, zacc) }, \
{ "xgyro", MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu_t, xgyro) }, \
{ "ygyro", MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu_t, ygyro) }, \
{ "zgyro", MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu_t, zgyro) }, \
{ "xmag", MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu_t, xmag) }, \
{ "ymag", MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_scaled_imu_t, ymag) }, \
{ "zmag", MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_scaled_imu_t, zmag) }, \
} \
}
/**
@ -37,27 +56,45 @@ typedef struct __mavlink_scaled_imu_t
* @param zmag Z Magnetic field (milli tesla)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[26];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_int16_t(buf, 8, xacc);
_mav_put_int16_t(buf, 10, yacc);
_mav_put_int16_t(buf, 12, zacc);
_mav_put_int16_t(buf, 14, xgyro);
_mav_put_int16_t(buf, 16, ygyro);
_mav_put_int16_t(buf, 18, zgyro);
_mav_put_int16_t(buf, 20, xmag);
_mav_put_int16_t(buf, 22, ymag);
_mav_put_int16_t(buf, 24, zmag);
memcpy(_MAV_PAYLOAD(msg), buf, 26);
#else
mavlink_scaled_imu_t packet;
packet.usec = usec;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
memcpy(_MAV_PAYLOAD(msg), &packet, 26);
#endif
msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg)
i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg)
i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg)
i += put_int16_t_by_index(xgyro, i, msg->payload); // Angular speed around X axis (millirad /sec)
i += put_int16_t_by_index(ygyro, i, msg->payload); // Angular speed around Y axis (millirad /sec)
i += put_int16_t_by_index(zgyro, i, msg->payload); // Angular speed around Z axis (millirad /sec)
i += put_int16_t_by_index(xmag, i, msg->payload); // X Magnetic field (milli tesla)
i += put_int16_t_by_index(ymag, i, msg->payload); // Y Magnetic field (milli tesla)
i += put_int16_t_by_index(zmag, i, msg->payload); // Z Magnetic field (milli tesla)
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 26);
}
/**
* @brief Pack a scaled_imu message
* @brief Pack a scaled_imu 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
@ -74,23 +111,42 @@ static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t co
* @param zmag Z Magnetic field (milli tesla)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[26];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_int16_t(buf, 8, xacc);
_mav_put_int16_t(buf, 10, yacc);
_mav_put_int16_t(buf, 12, zacc);
_mav_put_int16_t(buf, 14, xgyro);
_mav_put_int16_t(buf, 16, ygyro);
_mav_put_int16_t(buf, 18, zgyro);
_mav_put_int16_t(buf, 20, xmag);
_mav_put_int16_t(buf, 22, ymag);
_mav_put_int16_t(buf, 24, zmag);
memcpy(_MAV_PAYLOAD(msg), buf, 26);
#else
mavlink_scaled_imu_t packet;
packet.usec = usec;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
memcpy(_MAV_PAYLOAD(msg), &packet, 26);
#endif
msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg)
i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg)
i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg)
i += put_int16_t_by_index(xgyro, i, msg->payload); // Angular speed around X axis (millirad /sec)
i += put_int16_t_by_index(ygyro, i, msg->payload); // Angular speed around Y axis (millirad /sec)
i += put_int16_t_by_index(zgyro, i, msg->payload); // Angular speed around Z axis (millirad /sec)
i += put_int16_t_by_index(xmag, i, msg->payload); // X Magnetic field (milli tesla)
i += put_int16_t_by_index(ymag, i, msg->payload); // Y Magnetic field (milli tesla)
i += put_int16_t_by_index(zmag, i, msg->payload); // Z Magnetic field (milli tesla)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26);
}
/**
@ -125,14 +181,42 @@ static inline uint16_t mavlink_msg_scaled_imu_encode(uint8_t system_id, uint8_t
static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
mavlink_message_t msg;
mavlink_msg_scaled_imu_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[26];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_int16_t(buf, 8, xacc);
_mav_put_int16_t(buf, 10, yacc);
_mav_put_int16_t(buf, 12, zacc);
_mav_put_int16_t(buf, 14, xgyro);
_mav_put_int16_t(buf, 16, ygyro);
_mav_put_int16_t(buf, 18, zgyro);
_mav_put_int16_t(buf, 20, xmag);
_mav_put_int16_t(buf, 22, ymag);
_mav_put_int16_t(buf, 24, zmag);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, 26);
#else
mavlink_scaled_imu_t packet;
packet.usec = usec;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)&packet, 26);
#endif
}
#endif
// MESSAGE SCALED_IMU UNPACKING
/**
* @brief Get field usec from scaled_imu message
*
@ -140,16 +224,7 @@ static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint64_t
*/
static inline uint64_t mavlink_msg_scaled_imu_get_usec(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
@ -159,10 +234,7 @@ static inline uint64_t mavlink_msg_scaled_imu_get_usec(const mavlink_message_t*
*/
static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 8);
}
/**
@ -172,10 +244,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t* m
*/
static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 10);
}
/**
@ -185,10 +254,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t* m
*/
static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 12);
}
/**
@ -198,10 +264,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t* m
*/
static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 14);
}
/**
@ -211,10 +274,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t*
*/
static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 16);
}
/**
@ -224,10 +284,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t*
*/
static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 18);
}
/**
@ -237,10 +294,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t*
*/
static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 20);
}
/**
@ -250,10 +304,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t* m
*/
static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 22);
}
/**
@ -263,10 +314,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t* m
*/
static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 24);
}
/**
@ -277,6 +325,7 @@ static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t* m
*/
static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t* msg, mavlink_scaled_imu_t* scaled_imu)
{
#if MAVLINK_NEED_BYTE_SWAP
scaled_imu->usec = mavlink_msg_scaled_imu_get_usec(msg);
scaled_imu->xacc = mavlink_msg_scaled_imu_get_xacc(msg);
scaled_imu->yacc = mavlink_msg_scaled_imu_get_yacc(msg);
@ -287,4 +336,7 @@ static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t* msg, m
scaled_imu->xmag = mavlink_msg_scaled_imu_get_xmag(msg);
scaled_imu->ymag = mavlink_msg_scaled_imu_get_ymag(msg);
scaled_imu->zmag = mavlink_msg_scaled_imu_get_zmag(msg);
#else
memcpy(scaled_imu, _MAV_PAYLOAD(msg), 26);
#endif
}

144
libraries/GCS_MAVLink/include/common/mavlink_msg_scaled_pressure.h
View File

@ -2,15 +2,28 @@
#define MAVLINK_MSG_ID_SCALED_PRESSURE 38
typedef struct __mavlink_scaled_pressure_t
typedef struct __mavlink_scaled_pressure_t
{
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float press_abs; ///< Absolute pressure (hectopascal)
float press_diff; ///< Differential pressure 1 (hectopascal)
int16_t temperature; ///< Temperature measurement (0.01 degrees celsius)
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float press_abs; ///< Absolute pressure (hectopascal)
float press_diff; ///< Differential pressure 1 (hectopascal)
int16_t temperature; ///< Temperature measurement (0.01 degrees celsius)
} mavlink_scaled_pressure_t;
#define MAVLINK_MSG_ID_SCALED_PRESSURE_LEN 18
#define MAVLINK_MSG_ID_38_LEN 18
#define MAVLINK_MESSAGE_INFO_SCALED_PRESSURE { \
"SCALED_PRESSURE", \
4, \
{ { "usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_scaled_pressure_t, usec) }, \
{ "press_abs", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_scaled_pressure_t, press_abs) }, \
{ "press_diff", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_scaled_pressure_t, press_diff) }, \
{ "temperature", MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_pressure_t, temperature) }, \
} \
}
/**
@ -25,21 +38,33 @@ typedef struct __mavlink_scaled_pressure_t
* @param temperature Temperature measurement (0.01 degrees celsius)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_scaled_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float press_abs, float press_diff, int16_t temperature)
static inline uint16_t mavlink_msg_scaled_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, float press_abs, float press_diff, int16_t temperature)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, press_abs);
_mav_put_float(buf, 12, press_diff);
_mav_put_int16_t(buf, 16, temperature);
memcpy(_MAV_PAYLOAD(msg), buf, 18);
#else
mavlink_scaled_pressure_t packet;
packet.usec = usec;
packet.press_abs = press_abs;
packet.press_diff = press_diff;
packet.temperature = temperature;
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_SCALED_PRESSURE;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_float_by_index(press_abs, i, msg->payload); // Absolute pressure (hectopascal)
i += put_float_by_index(press_diff, i, msg->payload); // Differential pressure 1 (hectopascal)
i += put_int16_t_by_index(temperature, i, msg->payload); // Temperature measurement (0.01 degrees celsius)
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 18);
}
/**
* @brief Pack a scaled_pressure message
* @brief Pack a scaled_pressure 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
@ -50,17 +75,30 @@ static inline uint16_t mavlink_msg_scaled_pressure_pack(uint8_t system_id, uint8
* @param temperature Temperature measurement (0.01 degrees celsius)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_scaled_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float press_abs, float press_diff, int16_t temperature)
static inline uint16_t mavlink_msg_scaled_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,float press_abs,float press_diff,int16_t temperature)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, press_abs);
_mav_put_float(buf, 12, press_diff);
_mav_put_int16_t(buf, 16, temperature);
memcpy(_MAV_PAYLOAD(msg), buf, 18);
#else
mavlink_scaled_pressure_t packet;
packet.usec = usec;
packet.press_abs = press_abs;
packet.press_diff = press_diff;
packet.temperature = temperature;
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_SCALED_PRESSURE;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_float_by_index(press_abs, i, msg->payload); // Absolute pressure (hectopascal)
i += put_float_by_index(press_diff, i, msg->payload); // Differential pressure 1 (hectopascal)
i += put_int16_t_by_index(temperature, i, msg->payload); // Temperature measurement (0.01 degrees celsius)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18);
}
/**
@ -89,14 +127,30 @@ static inline uint16_t mavlink_msg_scaled_pressure_encode(uint8_t system_id, uin
static inline void mavlink_msg_scaled_pressure_send(mavlink_channel_t chan, uint64_t usec, float press_abs, float press_diff, int16_t temperature)
{
mavlink_message_t msg;
mavlink_msg_scaled_pressure_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, press_abs, press_diff, temperature);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, press_abs);
_mav_put_float(buf, 12, press_diff);
_mav_put_int16_t(buf, 16, temperature);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, buf, 18);
#else
mavlink_scaled_pressure_t packet;
packet.usec = usec;
packet.press_abs = press_abs;
packet.press_diff = press_diff;
packet.temperature = temperature;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, (const char *)&packet, 18);
#endif
}
#endif
// MESSAGE SCALED_PRESSURE UNPACKING
/**
* @brief Get field usec from scaled_pressure message
*
@ -104,16 +158,7 @@ static inline void mavlink_msg_scaled_pressure_send(mavlink_channel_t chan, uint
*/
static inline uint64_t mavlink_msg_scaled_pressure_get_usec(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
@ -123,12 +168,7 @@ static inline uint64_t mavlink_msg_scaled_pressure_get_usec(const mavlink_messag
*/
static inline float mavlink_msg_scaled_pressure_get_press_abs(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 8);
}
/**
@ -138,12 +178,7 @@ static inline float mavlink_msg_scaled_pressure_get_press_abs(const mavlink_mess
*/
static inline float mavlink_msg_scaled_pressure_get_press_diff(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 12);
}
/**
@ -153,10 +188,7 @@ static inline float mavlink_msg_scaled_pressure_get_press_diff(const mavlink_mes
*/
static inline int16_t mavlink_msg_scaled_pressure_get_temperature(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 16);
}
/**
@ -167,8 +199,12 @@ static inline int16_t mavlink_msg_scaled_pressure_get_temperature(const mavlink_
*/
static inline void mavlink_msg_scaled_pressure_decode(const mavlink_message_t* msg, mavlink_scaled_pressure_t* scaled_pressure)
{
#if MAVLINK_NEED_BYTE_SWAP
scaled_pressure->usec = mavlink_msg_scaled_pressure_get_usec(msg);
scaled_pressure->press_abs = mavlink_msg_scaled_pressure_get_press_abs(msg);
scaled_pressure->press_diff = mavlink_msg_scaled_pressure_get_press_diff(msg);
scaled_pressure->temperature = mavlink_msg_scaled_pressure_get_temperature(msg);
#else
memcpy(scaled_pressure, _MAV_PAYLOAD(msg), 18);
#endif
}

198
libraries/GCS_MAVLink/include/common/mavlink_msg_servo_output_raw.h
View File

@ -2,19 +2,36 @@
#define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW 37
typedef struct __mavlink_servo_output_raw_t
typedef struct __mavlink_servo_output_raw_t
{
uint16_t servo1_raw; ///< Servo output 1 value, in microseconds
uint16_t servo2_raw; ///< Servo output 2 value, in microseconds
uint16_t servo3_raw; ///< Servo output 3 value, in microseconds
uint16_t servo4_raw; ///< Servo output 4 value, in microseconds
uint16_t servo5_raw; ///< Servo output 5 value, in microseconds
uint16_t servo6_raw; ///< Servo output 6 value, in microseconds
uint16_t servo7_raw; ///< Servo output 7 value, in microseconds
uint16_t servo8_raw; ///< Servo output 8 value, in microseconds
uint16_t servo1_raw; ///< Servo output 1 value, in microseconds
uint16_t servo2_raw; ///< Servo output 2 value, in microseconds
uint16_t servo3_raw; ///< Servo output 3 value, in microseconds
uint16_t servo4_raw; ///< Servo output 4 value, in microseconds
uint16_t servo5_raw; ///< Servo output 5 value, in microseconds
uint16_t servo6_raw; ///< Servo output 6 value, in microseconds
uint16_t servo7_raw; ///< Servo output 7 value, in microseconds
uint16_t servo8_raw; ///< Servo output 8 value, in microseconds
} mavlink_servo_output_raw_t;
#define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN 16
#define MAVLINK_MSG_ID_37_LEN 16
#define MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW { \
"SERVO_OUTPUT_RAW", \
8, \
{ { "servo1_raw", MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_servo_output_raw_t, servo1_raw) }, \
{ "servo2_raw", MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_servo_output_raw_t, servo2_raw) }, \
{ "servo3_raw", MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_servo_output_raw_t, servo3_raw) }, \
{ "servo4_raw", MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_servo_output_raw_t, servo4_raw) }, \
{ "servo5_raw", MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_servo_output_raw_t, servo5_raw) }, \
{ "servo6_raw", MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_servo_output_raw_t, servo6_raw) }, \
{ "servo7_raw", MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_servo_output_raw_t, servo7_raw) }, \
{ "servo8_raw", MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_servo_output_raw_t, servo8_raw) }, \
} \
}
/**
@ -33,25 +50,41 @@ typedef struct __mavlink_servo_output_raw_t
* @param servo8_raw Servo output 8 value, in microseconds
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_uint16_t(buf, 0, servo1_raw);
_mav_put_uint16_t(buf, 2, servo2_raw);
_mav_put_uint16_t(buf, 4, servo3_raw);
_mav_put_uint16_t(buf, 6, servo4_raw);
_mav_put_uint16_t(buf, 8, servo5_raw);
_mav_put_uint16_t(buf, 10, servo6_raw);
_mav_put_uint16_t(buf, 12, servo7_raw);
_mav_put_uint16_t(buf, 14, servo8_raw);
memcpy(_MAV_PAYLOAD(msg), buf, 16);
#else
mavlink_servo_output_raw_t packet;
packet.servo1_raw = servo1_raw;
packet.servo2_raw = servo2_raw;
packet.servo3_raw = servo3_raw;
packet.servo4_raw = servo4_raw;
packet.servo5_raw = servo5_raw;
packet.servo6_raw = servo6_raw;
packet.servo7_raw = servo7_raw;
packet.servo8_raw = servo8_raw;
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
#endif
msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
i += put_uint16_t_by_index(servo1_raw, i, msg->payload); // Servo output 1 value, in microseconds
i += put_uint16_t_by_index(servo2_raw, i, msg->payload); // Servo output 2 value, in microseconds
i += put_uint16_t_by_index(servo3_raw, i, msg->payload); // Servo output 3 value, in microseconds
i += put_uint16_t_by_index(servo4_raw, i, msg->payload); // Servo output 4 value, in microseconds
i += put_uint16_t_by_index(servo5_raw, i, msg->payload); // Servo output 5 value, in microseconds
i += put_uint16_t_by_index(servo6_raw, i, msg->payload); // Servo output 6 value, in microseconds
i += put_uint16_t_by_index(servo7_raw, i, msg->payload); // Servo output 7 value, in microseconds
i += put_uint16_t_by_index(servo8_raw, i, msg->payload); // Servo output 8 value, in microseconds
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 16);
}
/**
* @brief Pack a servo_output_raw message
* @brief Pack a servo_output_raw 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
@ -66,21 +99,38 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint
* @param servo8_raw Servo output 8 value, in microseconds
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t servo1_raw,uint16_t servo2_raw,uint16_t servo3_raw,uint16_t servo4_raw,uint16_t servo5_raw,uint16_t servo6_raw,uint16_t servo7_raw,uint16_t servo8_raw)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_uint16_t(buf, 0, servo1_raw);
_mav_put_uint16_t(buf, 2, servo2_raw);
_mav_put_uint16_t(buf, 4, servo3_raw);
_mav_put_uint16_t(buf, 6, servo4_raw);
_mav_put_uint16_t(buf, 8, servo5_raw);
_mav_put_uint16_t(buf, 10, servo6_raw);
_mav_put_uint16_t(buf, 12, servo7_raw);
_mav_put_uint16_t(buf, 14, servo8_raw);
memcpy(_MAV_PAYLOAD(msg), buf, 16);
#else
mavlink_servo_output_raw_t packet;
packet.servo1_raw = servo1_raw;
packet.servo2_raw = servo2_raw;
packet.servo3_raw = servo3_raw;
packet.servo4_raw = servo4_raw;
packet.servo5_raw = servo5_raw;
packet.servo6_raw = servo6_raw;
packet.servo7_raw = servo7_raw;
packet.servo8_raw = servo8_raw;
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
#endif
msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
i += put_uint16_t_by_index(servo1_raw, i, msg->payload); // Servo output 1 value, in microseconds
i += put_uint16_t_by_index(servo2_raw, i, msg->payload); // Servo output 2 value, in microseconds
i += put_uint16_t_by_index(servo3_raw, i, msg->payload); // Servo output 3 value, in microseconds
i += put_uint16_t_by_index(servo4_raw, i, msg->payload); // Servo output 4 value, in microseconds
i += put_uint16_t_by_index(servo5_raw, i, msg->payload); // Servo output 5 value, in microseconds
i += put_uint16_t_by_index(servo6_raw, i, msg->payload); // Servo output 6 value, in microseconds
i += put_uint16_t_by_index(servo7_raw, i, msg->payload); // Servo output 7 value, in microseconds
i += put_uint16_t_by_index(servo8_raw, i, msg->payload); // Servo output 8 value, in microseconds
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16);
}
/**
@ -113,14 +163,38 @@ static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, ui
static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
{
mavlink_message_t msg;
mavlink_msg_servo_output_raw_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_uint16_t(buf, 0, servo1_raw);
_mav_put_uint16_t(buf, 2, servo2_raw);
_mav_put_uint16_t(buf, 4, servo3_raw);
_mav_put_uint16_t(buf, 6, servo4_raw);
_mav_put_uint16_t(buf, 8, servo5_raw);
_mav_put_uint16_t(buf, 10, servo6_raw);
_mav_put_uint16_t(buf, 12, servo7_raw);
_mav_put_uint16_t(buf, 14, servo8_raw);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, 16);
#else
mavlink_servo_output_raw_t packet;
packet.servo1_raw = servo1_raw;
packet.servo2_raw = servo2_raw;
packet.servo3_raw = servo3_raw;
packet.servo4_raw = servo4_raw;
packet.servo5_raw = servo5_raw;
packet.servo6_raw = servo6_raw;
packet.servo7_raw = servo7_raw;
packet.servo8_raw = servo8_raw;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, 16);
#endif
}
#endif
// MESSAGE SERVO_OUTPUT_RAW UNPACKING
/**
* @brief Get field servo1_raw from servo_output_raw message
*
@ -128,10 +202,7 @@ static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uin
*/
static inline uint16_t mavlink_msg_servo_output_raw_get_servo1_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload)[0];
r.b[0] = (msg->payload)[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
@ -141,10 +212,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo1_raw(const mavlink
*/
static inline uint16_t mavlink_msg_servo_output_raw_get_servo2_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 2);
}
/**
@ -154,10 +222,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo2_raw(const mavlink
*/
static inline uint16_t mavlink_msg_servo_output_raw_get_servo3_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 4);
}
/**
@ -167,10 +232,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo3_raw(const mavlink
*/
static inline uint16_t mavlink_msg_servo_output_raw_get_servo4_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 6);
}
/**
@ -180,10 +242,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo4_raw(const mavlink
*/
static inline uint16_t mavlink_msg_servo_output_raw_get_servo5_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 8);
}
/**
@ -193,10 +252,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo5_raw(const mavlink
*/
static inline uint16_t mavlink_msg_servo_output_raw_get_servo6_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 10);
}
/**
@ -206,10 +262,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo6_raw(const mavlink
*/
static inline uint16_t mavlink_msg_servo_output_raw_get_servo7_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 12);
}
/**
@ -219,10 +272,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo7_raw(const mavlink
*/
static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 14);
}
/**
@ -233,6 +283,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink
*/
static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t* msg, mavlink_servo_output_raw_t* servo_output_raw)
{
#if MAVLINK_NEED_BYTE_SWAP
servo_output_raw->servo1_raw = mavlink_msg_servo_output_raw_get_servo1_raw(msg);
servo_output_raw->servo2_raw = mavlink_msg_servo_output_raw_get_servo2_raw(msg);
servo_output_raw->servo3_raw = mavlink_msg_servo_output_raw_get_servo3_raw(msg);
@ -241,4 +292,7 @@ static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t*
servo_output_raw->servo6_raw = mavlink_msg_servo_output_raw_get_servo6_raw(msg);
servo_output_raw->servo7_raw = mavlink_msg_servo_output_raw_get_servo7_raw(msg);
servo_output_raw->servo8_raw = mavlink_msg_servo_output_raw_get_servo8_raw(msg);
#else
memcpy(servo_output_raw, _MAV_PAYLOAD(msg), 16);
#endif
}

101
libraries/GCS_MAVLink/include/common/mavlink_msg_set_altitude.h
View File

@ -2,13 +2,24 @@
#define MAVLINK_MSG_ID_SET_ALTITUDE 65
typedef struct __mavlink_set_altitude_t
typedef struct __mavlink_set_altitude_t
{
uint8_t target; ///< The system setting the altitude
uint32_t mode; ///< The new altitude in meters
uint8_t target; ///< The system setting the altitude
uint32_t mode; ///< The new altitude in meters
} mavlink_set_altitude_t;
#define MAVLINK_MSG_ID_SET_ALTITUDE_LEN 5
#define MAVLINK_MSG_ID_65_LEN 5
#define MAVLINK_MESSAGE_INFO_SET_ALTITUDE { \
"SET_ALTITUDE", \
2, \
{ { "target", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_altitude_t, target) }, \
{ "mode", MAVLINK_TYPE_UINT32_T, 0, 1, offsetof(mavlink_set_altitude_t, mode) }, \
} \
}
/**
@ -21,19 +32,29 @@ typedef struct __mavlink_set_altitude_t
* @param mode The new altitude in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_altitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint32_t mode)
static inline uint16_t mavlink_msg_set_altitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target, uint32_t mode)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint32_t(buf, 1, mode);
memcpy(_MAV_PAYLOAD(msg), buf, 5);
#else
mavlink_set_altitude_t packet;
packet.target = target;
packet.mode = mode;
memcpy(_MAV_PAYLOAD(msg), &packet, 5);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_ALTITUDE;
i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the altitude
i += put_uint32_t_by_index(mode, i, msg->payload); // The new altitude in meters
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 5);
}
/**
* @brief Pack a set_altitude message
* @brief Pack a set_altitude 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
@ -42,15 +63,26 @@ static inline uint16_t mavlink_msg_set_altitude_pack(uint8_t system_id, uint8_t
* @param mode The new altitude in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_altitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint32_t mode)
static inline uint16_t mavlink_msg_set_altitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target,uint32_t mode)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint32_t(buf, 1, mode);
memcpy(_MAV_PAYLOAD(msg), buf, 5);
#else
mavlink_set_altitude_t packet;
packet.target = target;
packet.mode = mode;
memcpy(_MAV_PAYLOAD(msg), &packet, 5);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_ALTITUDE;
i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the altitude
i += put_uint32_t_by_index(mode, i, msg->payload); // The new altitude in meters
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5);
}
/**
@ -77,14 +109,26 @@ static inline uint16_t mavlink_msg_set_altitude_encode(uint8_t system_id, uint8_
static inline void mavlink_msg_set_altitude_send(mavlink_channel_t chan, uint8_t target, uint32_t mode)
{
mavlink_message_t msg;
mavlink_msg_set_altitude_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, mode);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint32_t(buf, 1, mode);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ALTITUDE, buf, 5);
#else
mavlink_set_altitude_t packet;
packet.target = target;
packet.mode = mode;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ALTITUDE, (const char *)&packet, 5);
#endif
}
#endif
// MESSAGE SET_ALTITUDE UNPACKING
/**
* @brief Get field target from set_altitude message
*
@ -92,7 +136,7 @@ static inline void mavlink_msg_set_altitude_send(mavlink_channel_t chan, uint8_t
*/
static inline uint8_t mavlink_msg_set_altitude_get_target(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -102,12 +146,7 @@ static inline uint8_t mavlink_msg_set_altitude_get_target(const mavlink_message_
*/
static inline uint32_t mavlink_msg_set_altitude_get_mode(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t))[3];
return (uint32_t)r.i;
return _MAV_RETURN_uint32_t(msg, 1);
}
/**
@ -118,6 +157,10 @@ static inline uint32_t mavlink_msg_set_altitude_get_mode(const mavlink_message_t
*/
static inline void mavlink_msg_set_altitude_decode(const mavlink_message_t* msg, mavlink_set_altitude_t* set_altitude)
{
#if MAVLINK_NEED_BYTE_SWAP
set_altitude->target = mavlink_msg_set_altitude_get_target(msg);
set_altitude->mode = mavlink_msg_set_altitude_get_mode(msg);
#else
memcpy(set_altitude, _MAV_PAYLOAD(msg), 5);
#endif
}

96
libraries/GCS_MAVLink/include/common/mavlink_msg_set_mode.h
View File

@ -2,13 +2,24 @@
#define MAVLINK_MSG_ID_SET_MODE 11
typedef struct __mavlink_set_mode_t
typedef struct __mavlink_set_mode_t
{
uint8_t target; ///< The system setting the mode
uint8_t mode; ///< The new mode
uint8_t target; ///< The system setting the mode
uint8_t mode; ///< The new mode
} mavlink_set_mode_t;
#define MAVLINK_MSG_ID_SET_MODE_LEN 2
#define MAVLINK_MSG_ID_11_LEN 2
#define MAVLINK_MESSAGE_INFO_SET_MODE { \
"SET_MODE", \
2, \
{ { "target", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_mode_t, target) }, \
{ "mode", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_set_mode_t, mode) }, \
} \
}
/**
@ -21,19 +32,29 @@ typedef struct __mavlink_set_mode_t
* @param mode The new mode
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t mode)
static inline uint16_t mavlink_msg_set_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target, uint8_t mode)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint8_t(buf, 1, mode);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_set_mode_t packet;
packet.target = target;
packet.mode = mode;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_MODE;
i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the mode
i += put_uint8_t_by_index(mode, i, msg->payload); // The new mode
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 2);
}
/**
* @brief Pack a set_mode message
* @brief Pack a set_mode 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
@ -42,15 +63,26 @@ static inline uint16_t mavlink_msg_set_mode_pack(uint8_t system_id, uint8_t comp
* @param mode The new mode
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t mode)
static inline uint16_t mavlink_msg_set_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target,uint8_t mode)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint8_t(buf, 1, mode);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_set_mode_t packet;
packet.target = target;
packet.mode = mode;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_MODE;
i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the mode
i += put_uint8_t_by_index(mode, i, msg->payload); // The new mode
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2);
}
/**
@ -77,14 +109,26 @@ static inline uint16_t mavlink_msg_set_mode_encode(uint8_t system_id, uint8_t co
static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t target, uint8_t mode)
{
mavlink_message_t msg;
mavlink_msg_set_mode_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, mode);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint8_t(buf, 1, mode);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, 2);
#else
mavlink_set_mode_t packet;
packet.target = target;
packet.mode = mode;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)&packet, 2);
#endif
}
#endif
// MESSAGE SET_MODE UNPACKING
/**
* @brief Get field target from set_mode message
*
@ -92,7 +136,7 @@ static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t tar
*/
static inline uint8_t mavlink_msg_set_mode_get_target(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -102,7 +146,7 @@ static inline uint8_t mavlink_msg_set_mode_get_target(const mavlink_message_t* m
*/
static inline uint8_t mavlink_msg_set_mode_get_mode(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -113,6 +157,10 @@ static inline uint8_t mavlink_msg_set_mode_get_mode(const mavlink_message_t* msg
*/
static inline void mavlink_msg_set_mode_decode(const mavlink_message_t* msg, mavlink_set_mode_t* set_mode)
{
#if MAVLINK_NEED_BYTE_SWAP
set_mode->target = mavlink_msg_set_mode_get_target(msg);
set_mode->mode = mavlink_msg_set_mode_get_mode(msg);
#else
memcpy(set_mode, _MAV_PAYLOAD(msg), 2);
#endif
}

96
libraries/GCS_MAVLink/include/common/mavlink_msg_set_nav_mode.h
View File

@ -2,13 +2,24 @@
#define MAVLINK_MSG_ID_SET_NAV_MODE 12
typedef struct __mavlink_set_nav_mode_t
typedef struct __mavlink_set_nav_mode_t
{
uint8_t target; ///< The system setting the mode
uint8_t nav_mode; ///< The new navigation mode
uint8_t target; ///< The system setting the mode
uint8_t nav_mode; ///< The new navigation mode
} mavlink_set_nav_mode_t;
#define MAVLINK_MSG_ID_SET_NAV_MODE_LEN 2
#define MAVLINK_MSG_ID_12_LEN 2
#define MAVLINK_MESSAGE_INFO_SET_NAV_MODE { \
"SET_NAV_MODE", \
2, \
{ { "target", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_nav_mode_t, target) }, \
{ "nav_mode", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_set_nav_mode_t, nav_mode) }, \
} \
}
/**
@ -21,19 +32,29 @@ typedef struct __mavlink_set_nav_mode_t
* @param nav_mode The new navigation mode
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_nav_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t nav_mode)
static inline uint16_t mavlink_msg_set_nav_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target, uint8_t nav_mode)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint8_t(buf, 1, nav_mode);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_set_nav_mode_t packet;
packet.target = target;
packet.nav_mode = nav_mode;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_NAV_MODE;
i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the mode
i += put_uint8_t_by_index(nav_mode, i, msg->payload); // The new navigation mode
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 2);
}
/**
* @brief Pack a set_nav_mode message
* @brief Pack a set_nav_mode 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
@ -42,15 +63,26 @@ static inline uint16_t mavlink_msg_set_nav_mode_pack(uint8_t system_id, uint8_t
* @param nav_mode The new navigation mode
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_nav_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t nav_mode)
static inline uint16_t mavlink_msg_set_nav_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target,uint8_t nav_mode)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint8_t(buf, 1, nav_mode);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_set_nav_mode_t packet;
packet.target = target;
packet.nav_mode = nav_mode;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_NAV_MODE;
i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the mode
i += put_uint8_t_by_index(nav_mode, i, msg->payload); // The new navigation mode
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2);
}
/**
@ -77,14 +109,26 @@ static inline uint16_t mavlink_msg_set_nav_mode_encode(uint8_t system_id, uint8_
static inline void mavlink_msg_set_nav_mode_send(mavlink_channel_t chan, uint8_t target, uint8_t nav_mode)
{
mavlink_message_t msg;
mavlink_msg_set_nav_mode_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, nav_mode);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint8_t(buf, 1, nav_mode);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_NAV_MODE, buf, 2);
#else
mavlink_set_nav_mode_t packet;
packet.target = target;
packet.nav_mode = nav_mode;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_NAV_MODE, (const char *)&packet, 2);
#endif
}
#endif
// MESSAGE SET_NAV_MODE UNPACKING
/**
* @brief Get field target from set_nav_mode message
*
@ -92,7 +136,7 @@ static inline void mavlink_msg_set_nav_mode_send(mavlink_channel_t chan, uint8_t
*/
static inline uint8_t mavlink_msg_set_nav_mode_get_target(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -102,7 +146,7 @@ static inline uint8_t mavlink_msg_set_nav_mode_get_target(const mavlink_message_
*/
static inline uint8_t mavlink_msg_set_nav_mode_get_nav_mode(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -113,6 +157,10 @@ static inline uint8_t mavlink_msg_set_nav_mode_get_nav_mode(const mavlink_messag
*/
static inline void mavlink_msg_set_nav_mode_decode(const mavlink_message_t* msg, mavlink_set_nav_mode_t* set_nav_mode)
{
#if MAVLINK_NEED_BYTE_SWAP
set_nav_mode->target = mavlink_msg_set_nav_mode_get_target(msg);
set_nav_mode->nav_mode = mavlink_msg_set_nav_mode_get_nav_mode(msg);
#else
memcpy(set_nav_mode, _MAV_PAYLOAD(msg), 2);
#endif
}

168
libraries/GCS_MAVLink/include/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h
View File

@ -2,17 +2,32 @@
#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST 56
typedef struct __mavlink_set_roll_pitch_yaw_speed_thrust_t
typedef struct __mavlink_set_roll_pitch_yaw_speed_thrust_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
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
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
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_set_roll_pitch_yaw_speed_thrust_t;
#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN 18
#define MAVLINK_MSG_ID_56_LEN 18
#define MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST { \
"SET_ROLL_PITCH_YAW_SPEED_THRUST", \
6, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, target_component) }, \
{ "roll_speed", MAVLINK_TYPE_FLOAT, 0, 2, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, roll_speed) }, \
{ "pitch_speed", MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, pitch_speed) }, \
{ "yaw_speed", MAVLINK_TYPE_FLOAT, 0, 10, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, yaw_speed) }, \
{ "thrust", MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, thrust) }, \
} \
}
/**
@ -29,23 +44,37 @@ typedef struct __mavlink_set_roll_pitch_yaw_speed_thrust_t
* @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_set_roll_pitch_yaw_speed_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_float(buf, 2, roll_speed);
_mav_put_float(buf, 6, pitch_speed);
_mav_put_float(buf, 10, yaw_speed);
_mav_put_float(buf, 14, thrust);
memcpy(_MAV_PAYLOAD(msg), buf, 18);
#else
mavlink_set_roll_pitch_yaw_speed_thrust_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.roll_speed = roll_speed;
packet.pitch_speed = pitch_speed;
packet.yaw_speed = yaw_speed;
packet.thrust = thrust;
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s
i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s
i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s
i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 18);
}
/**
* @brief Pack a set_roll_pitch_yaw_speed_thrust message
* @brief Pack a set_roll_pitch_yaw_speed_thrust 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
@ -58,19 +87,34 @@ static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(uint8_t
* @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_set_roll_pitch_yaw_speed_thrust_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, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_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,float roll_speed,float pitch_speed,float yaw_speed,float thrust)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_float(buf, 2, roll_speed);
_mav_put_float(buf, 6, pitch_speed);
_mav_put_float(buf, 10, yaw_speed);
_mav_put_float(buf, 14, thrust);
memcpy(_MAV_PAYLOAD(msg), buf, 18);
#else
mavlink_set_roll_pitch_yaw_speed_thrust_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.roll_speed = roll_speed;
packet.pitch_speed = pitch_speed;
packet.yaw_speed = yaw_speed;
packet.thrust = thrust;
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_float_by_index(roll_speed, i, msg->payload); // Desired roll angular speed in rad/s
i += put_float_by_index(pitch_speed, i, msg->payload); // Desired pitch angular speed in rad/s
i += put_float_by_index(yaw_speed, i, msg->payload); // Desired yaw angular speed in rad/s
i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18);
}
/**
@ -101,14 +145,34 @@ static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_encode(uint8_
static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
{
mavlink_message_t msg;
mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_float(buf, 2, roll_speed);
_mav_put_float(buf, 6, pitch_speed);
_mav_put_float(buf, 10, yaw_speed);
_mav_put_float(buf, 14, thrust);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, buf, 18);
#else
mavlink_set_roll_pitch_yaw_speed_thrust_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
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_SET_ROLL_PITCH_YAW_SPEED_THRUST, (const char *)&packet, 18);
#endif
}
#endif
// MESSAGE SET_ROLL_PITCH_YAW_SPEED_THRUST UNPACKING
/**
* @brief Get field target_system from set_roll_pitch_yaw_speed_thrust message
*
@ -116,7 +180,7 @@ static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_send(mavlink_chan
*/
static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -126,7 +190,7 @@ static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_sys
*/
static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -136,12 +200,7 @@ static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_com
*/
static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_roll_speed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 2);
}
/**
@ -151,12 +210,7 @@ static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_roll_speed(c
*/
static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_pitch_speed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 6);
}
/**
@ -166,12 +220,7 @@ static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_pitch_speed(
*/
static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_yaw_speed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 10);
}
/**
@ -181,12 +230,7 @@ static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_yaw_speed(co
*/
static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_thrust(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 14);
}
/**
@ -197,10 +241,14 @@ static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_thrust(const
*/
static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(const mavlink_message_t* msg, mavlink_set_roll_pitch_yaw_speed_thrust_t* set_roll_pitch_yaw_speed_thrust)
{
#if MAVLINK_NEED_BYTE_SWAP
set_roll_pitch_yaw_speed_thrust->target_system = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_system(msg);
set_roll_pitch_yaw_speed_thrust->target_component = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_component(msg);
set_roll_pitch_yaw_speed_thrust->roll_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_roll_speed(msg);
set_roll_pitch_yaw_speed_thrust->pitch_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_pitch_speed(msg);
set_roll_pitch_yaw_speed_thrust->yaw_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_yaw_speed(msg);
set_roll_pitch_yaw_speed_thrust->thrust = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_thrust(msg);
#else
memcpy(set_roll_pitch_yaw_speed_thrust, _MAV_PAYLOAD(msg), 18);
#endif
}

168
libraries/GCS_MAVLink/include/common/mavlink_msg_set_roll_pitch_yaw_thrust.h
View File

@ -2,17 +2,32 @@
#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST 55
typedef struct __mavlink_set_roll_pitch_yaw_thrust_t
typedef struct __mavlink_set_roll_pitch_yaw_thrust_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
float roll; ///< Desired roll angle in radians
float pitch; ///< Desired pitch angle in radians
float yaw; ///< Desired yaw angle in radians
float thrust; ///< Collective thrust, normalized to 0 .. 1
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
float roll; ///< Desired roll angle in radians
float pitch; ///< Desired pitch angle in radians
float yaw; ///< Desired yaw angle in radians
float thrust; ///< Collective thrust, normalized to 0 .. 1
} mavlink_set_roll_pitch_yaw_thrust_t;
#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN 18
#define MAVLINK_MSG_ID_55_LEN 18
#define MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST { \
"SET_ROLL_PITCH_YAW_THRUST", \
6, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, target_component) }, \
{ "roll", MAVLINK_TYPE_FLOAT, 0, 2, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, roll) }, \
{ "pitch", MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, pitch) }, \
{ "yaw", MAVLINK_TYPE_FLOAT, 0, 10, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, yaw) }, \
{ "thrust", MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, thrust) }, \
} \
}
/**
@ -29,23 +44,37 @@ typedef struct __mavlink_set_roll_pitch_yaw_thrust_t
* @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_set_roll_pitch_yaw_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw, float thrust)
static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw, float thrust)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_float(buf, 2, roll);
_mav_put_float(buf, 6, pitch);
_mav_put_float(buf, 10, yaw);
_mav_put_float(buf, 14, thrust);
memcpy(_MAV_PAYLOAD(msg), buf, 18);
#else
mavlink_set_roll_pitch_yaw_thrust_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians
i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians
i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians
i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 18);
}
/**
* @brief Pack a set_roll_pitch_yaw_thrust message
* @brief Pack a set_roll_pitch_yaw_thrust 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
@ -58,19 +87,34 @@ static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack(uint8_t system
* @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_set_roll_pitch_yaw_thrust_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, float roll, float pitch, float yaw, float thrust)
static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_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,float roll,float pitch,float yaw,float thrust)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_float(buf, 2, roll);
_mav_put_float(buf, 6, pitch);
_mav_put_float(buf, 10, yaw);
_mav_put_float(buf, 14, thrust);
memcpy(_MAV_PAYLOAD(msg), buf, 18);
#else
mavlink_set_roll_pitch_yaw_thrust_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_float_by_index(roll, i, msg->payload); // Desired roll angle in radians
i += put_float_by_index(pitch, i, msg->payload); // Desired pitch angle in radians
i += put_float_by_index(yaw, i, msg->payload); // Desired yaw angle in radians
i += put_float_by_index(thrust, i, msg->payload); // Collective thrust, normalized to 0 .. 1
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18);
}
/**
@ -101,14 +145,34 @@ static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_encode(uint8_t syst
static inline void mavlink_msg_set_roll_pitch_yaw_thrust_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw, float thrust)
{
mavlink_message_t msg;
mavlink_msg_set_roll_pitch_yaw_thrust_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, roll, pitch, yaw, thrust);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_float(buf, 2, roll);
_mav_put_float(buf, 6, pitch);
_mav_put_float(buf, 10, yaw);
_mav_put_float(buf, 14, thrust);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, buf, 18);
#else
mavlink_set_roll_pitch_yaw_thrust_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, (const char *)&packet, 18);
#endif
}
#endif
// MESSAGE SET_ROLL_PITCH_YAW_THRUST UNPACKING
/**
* @brief Get field target_system from set_roll_pitch_yaw_thrust message
*
@ -116,7 +180,7 @@ static inline void mavlink_msg_set_roll_pitch_yaw_thrust_send(mavlink_channel_t
*/
static inline uint8_t mavlink_msg_set_roll_pitch_yaw_thrust_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -126,7 +190,7 @@ static inline uint8_t mavlink_msg_set_roll_pitch_yaw_thrust_get_target_system(co
*/
static inline uint8_t mavlink_msg_set_roll_pitch_yaw_thrust_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -136,12 +200,7 @@ static inline uint8_t mavlink_msg_set_roll_pitch_yaw_thrust_get_target_component
*/
static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_roll(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 2);
}
/**
@ -151,12 +210,7 @@ static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_roll(const mavlink
*/
static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_pitch(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 6);
}
/**
@ -166,12 +220,7 @@ static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_pitch(const mavlin
*/
static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_yaw(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 10);
}
/**
@ -181,12 +230,7 @@ static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_yaw(const mavlink_
*/
static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_thrust(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 14);
}
/**
@ -197,10 +241,14 @@ static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_thrust(const mavli
*/
static inline void mavlink_msg_set_roll_pitch_yaw_thrust_decode(const mavlink_message_t* msg, mavlink_set_roll_pitch_yaw_thrust_t* set_roll_pitch_yaw_thrust)
{
#if MAVLINK_NEED_BYTE_SWAP
set_roll_pitch_yaw_thrust->target_system = mavlink_msg_set_roll_pitch_yaw_thrust_get_target_system(msg);
set_roll_pitch_yaw_thrust->target_component = mavlink_msg_set_roll_pitch_yaw_thrust_get_target_component(msg);
set_roll_pitch_yaw_thrust->roll = mavlink_msg_set_roll_pitch_yaw_thrust_get_roll(msg);
set_roll_pitch_yaw_thrust->pitch = mavlink_msg_set_roll_pitch_yaw_thrust_get_pitch(msg);
set_roll_pitch_yaw_thrust->yaw = mavlink_msg_set_roll_pitch_yaw_thrust_get_yaw(msg);
set_roll_pitch_yaw_thrust->thrust = mavlink_msg_set_roll_pitch_yaw_thrust_get_thrust(msg);
#else
memcpy(set_roll_pitch_yaw_thrust, _MAV_PAYLOAD(msg), 18);
#endif
}

232
libraries/GCS_MAVLink/include/common/mavlink_msg_state_correction.h
View File

@ -2,20 +2,38 @@
#define MAVLINK_MSG_ID_STATE_CORRECTION 64
typedef struct __mavlink_state_correction_t
typedef struct __mavlink_state_correction_t
{
float xErr; ///< x position error
float yErr; ///< y position error
float zErr; ///< z position error
float rollErr; ///< roll error (radians)
float pitchErr; ///< pitch error (radians)
float yawErr; ///< yaw error (radians)
float vxErr; ///< x velocity
float vyErr; ///< y velocity
float vzErr; ///< z velocity
float xErr; ///< x position error
float yErr; ///< y position error
float zErr; ///< z position error
float rollErr; ///< roll error (radians)
float pitchErr; ///< pitch error (radians)
float yawErr; ///< yaw error (radians)
float vxErr; ///< x velocity
float vyErr; ///< y velocity
float vzErr; ///< z velocity
} mavlink_state_correction_t;
#define MAVLINK_MSG_ID_STATE_CORRECTION_LEN 36
#define MAVLINK_MSG_ID_64_LEN 36
#define MAVLINK_MESSAGE_INFO_STATE_CORRECTION { \
"STATE_CORRECTION", \
9, \
{ { "xErr", MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_state_correction_t, xErr) }, \
{ "yErr", MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_state_correction_t, yErr) }, \
{ "zErr", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_state_correction_t, zErr) }, \
{ "rollErr", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_state_correction_t, rollErr) }, \
{ "pitchErr", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_state_correction_t, pitchErr) }, \
{ "yawErr", MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_state_correction_t, yawErr) }, \
{ "vxErr", MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_state_correction_t, vxErr) }, \
{ "vyErr", MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_state_correction_t, vyErr) }, \
{ "vzErr", MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_state_correction_t, vzErr) }, \
} \
}
/**
@ -35,26 +53,43 @@ typedef struct __mavlink_state_correction_t
* @param vzErr z velocity
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_state_correction_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr)
static inline uint16_t mavlink_msg_state_correction_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
_mav_put_float(buf, 0, xErr);
_mav_put_float(buf, 4, yErr);
_mav_put_float(buf, 8, zErr);
_mav_put_float(buf, 12, rollErr);
_mav_put_float(buf, 16, pitchErr);
_mav_put_float(buf, 20, yawErr);
_mav_put_float(buf, 24, vxErr);
_mav_put_float(buf, 28, vyErr);
_mav_put_float(buf, 32, vzErr);
memcpy(_MAV_PAYLOAD(msg), buf, 36);
#else
mavlink_state_correction_t packet;
packet.xErr = xErr;
packet.yErr = yErr;
packet.zErr = zErr;
packet.rollErr = rollErr;
packet.pitchErr = pitchErr;
packet.yawErr = yawErr;
packet.vxErr = vxErr;
packet.vyErr = vyErr;
packet.vzErr = vzErr;
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
#endif
msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION;
i += put_float_by_index(xErr, i, msg->payload); // x position error
i += put_float_by_index(yErr, i, msg->payload); // y position error
i += put_float_by_index(zErr, i, msg->payload); // z position error
i += put_float_by_index(rollErr, i, msg->payload); // roll error (radians)
i += put_float_by_index(pitchErr, i, msg->payload); // pitch error (radians)
i += put_float_by_index(yawErr, i, msg->payload); // yaw error (radians)
i += put_float_by_index(vxErr, i, msg->payload); // x velocity
i += put_float_by_index(vyErr, i, msg->payload); // y velocity
i += put_float_by_index(vzErr, i, msg->payload); // z velocity
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 36);
}
/**
* @brief Pack a state_correction message
* @brief Pack a state_correction 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
@ -70,22 +105,40 @@ static inline uint16_t mavlink_msg_state_correction_pack(uint8_t system_id, uint
* @param vzErr z velocity
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_state_correction_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr)
static inline uint16_t mavlink_msg_state_correction_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float xErr,float yErr,float zErr,float rollErr,float pitchErr,float yawErr,float vxErr,float vyErr,float vzErr)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
_mav_put_float(buf, 0, xErr);
_mav_put_float(buf, 4, yErr);
_mav_put_float(buf, 8, zErr);
_mav_put_float(buf, 12, rollErr);
_mav_put_float(buf, 16, pitchErr);
_mav_put_float(buf, 20, yawErr);
_mav_put_float(buf, 24, vxErr);
_mav_put_float(buf, 28, vyErr);
_mav_put_float(buf, 32, vzErr);
memcpy(_MAV_PAYLOAD(msg), buf, 36);
#else
mavlink_state_correction_t packet;
packet.xErr = xErr;
packet.yErr = yErr;
packet.zErr = zErr;
packet.rollErr = rollErr;
packet.pitchErr = pitchErr;
packet.yawErr = yawErr;
packet.vxErr = vxErr;
packet.vyErr = vyErr;
packet.vzErr = vzErr;
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
#endif
msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION;
i += put_float_by_index(xErr, i, msg->payload); // x position error
i += put_float_by_index(yErr, i, msg->payload); // y position error
i += put_float_by_index(zErr, i, msg->payload); // z position error
i += put_float_by_index(rollErr, i, msg->payload); // roll error (radians)
i += put_float_by_index(pitchErr, i, msg->payload); // pitch error (radians)
i += put_float_by_index(yawErr, i, msg->payload); // yaw error (radians)
i += put_float_by_index(vxErr, i, msg->payload); // x velocity
i += put_float_by_index(vyErr, i, msg->payload); // y velocity
i += put_float_by_index(vzErr, i, msg->payload); // z velocity
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36);
}
/**
@ -119,14 +172,40 @@ static inline uint16_t mavlink_msg_state_correction_encode(uint8_t system_id, ui
static inline void mavlink_msg_state_correction_send(mavlink_channel_t chan, float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr)
{
mavlink_message_t msg;
mavlink_msg_state_correction_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
_mav_put_float(buf, 0, xErr);
_mav_put_float(buf, 4, yErr);
_mav_put_float(buf, 8, zErr);
_mav_put_float(buf, 12, rollErr);
_mav_put_float(buf, 16, pitchErr);
_mav_put_float(buf, 20, yawErr);
_mav_put_float(buf, 24, vxErr);
_mav_put_float(buf, 28, vyErr);
_mav_put_float(buf, 32, vzErr);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATE_CORRECTION, buf, 36);
#else
mavlink_state_correction_t packet;
packet.xErr = xErr;
packet.yErr = yErr;
packet.zErr = zErr;
packet.rollErr = rollErr;
packet.pitchErr = pitchErr;
packet.yawErr = yawErr;
packet.vxErr = vxErr;
packet.vyErr = vyErr;
packet.vzErr = vzErr;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATE_CORRECTION, (const char *)&packet, 36);
#endif
}
#endif
// MESSAGE STATE_CORRECTION UNPACKING
/**
* @brief Get field xErr from state_correction message
*
@ -134,12 +213,7 @@ static inline void mavlink_msg_state_correction_send(mavlink_channel_t chan, flo
*/
static inline float mavlink_msg_state_correction_get_xErr(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 0);
}
/**
@ -149,12 +223,7 @@ static inline float mavlink_msg_state_correction_get_xErr(const mavlink_message_
*/
static inline float mavlink_msg_state_correction_get_yErr(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 4);
}
/**
@ -164,12 +233,7 @@ static inline float mavlink_msg_state_correction_get_yErr(const mavlink_message_
*/
static inline float mavlink_msg_state_correction_get_zErr(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 8);
}
/**
@ -179,12 +243,7 @@ static inline float mavlink_msg_state_correction_get_zErr(const mavlink_message_
*/
static inline float mavlink_msg_state_correction_get_rollErr(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 12);
}
/**
@ -194,12 +253,7 @@ static inline float mavlink_msg_state_correction_get_rollErr(const mavlink_messa
*/
static inline float mavlink_msg_state_correction_get_pitchErr(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 16);
}
/**
@ -209,12 +263,7 @@ static inline float mavlink_msg_state_correction_get_pitchErr(const mavlink_mess
*/
static inline float mavlink_msg_state_correction_get_yawErr(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 20);
}
/**
@ -224,12 +273,7 @@ static inline float mavlink_msg_state_correction_get_yawErr(const mavlink_messag
*/
static inline float mavlink_msg_state_correction_get_vxErr(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 24);
}
/**
@ -239,12 +283,7 @@ static inline float mavlink_msg_state_correction_get_vxErr(const mavlink_message
*/
static inline float mavlink_msg_state_correction_get_vyErr(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 28);
}
/**
@ -254,12 +293,7 @@ static inline float mavlink_msg_state_correction_get_vyErr(const mavlink_message
*/
static inline float mavlink_msg_state_correction_get_vzErr(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 32);
}
/**
@ -270,6 +304,7 @@ static inline float mavlink_msg_state_correction_get_vzErr(const mavlink_message
*/
static inline void mavlink_msg_state_correction_decode(const mavlink_message_t* msg, mavlink_state_correction_t* state_correction)
{
#if MAVLINK_NEED_BYTE_SWAP
state_correction->xErr = mavlink_msg_state_correction_get_xErr(msg);
state_correction->yErr = mavlink_msg_state_correction_get_yErr(msg);
state_correction->zErr = mavlink_msg_state_correction_get_zErr(msg);
@ -279,4 +314,7 @@ static inline void mavlink_msg_state_correction_decode(const mavlink_message_t*
state_correction->vxErr = mavlink_msg_state_correction_get_vxErr(msg);
state_correction->vyErr = mavlink_msg_state_correction_get_vyErr(msg);
state_correction->vzErr = mavlink_msg_state_correction_get_vzErr(msg);
#else
memcpy(state_correction, _MAV_PAYLOAD(msg), 36);
#endif
}

95
libraries/GCS_MAVLink/include/common/mavlink_msg_statustext.h
View File

@ -2,15 +2,25 @@
#define MAVLINK_MSG_ID_STATUSTEXT 254
typedef struct __mavlink_statustext_t
typedef struct __mavlink_statustext_t
{
uint8_t severity; ///< Severity of status, 0 = info message, 255 = critical fault
int8_t text[50]; ///< Status text message, without null termination character
uint8_t severity; ///< Severity of status, 0 = info message, 255 = critical fault
int8_t text[50]; ///< Status text message, without null termination character
} mavlink_statustext_t;
#define MAVLINK_MSG_ID_STATUSTEXT_LEN 51
#define MAVLINK_MSG_ID_254_LEN 51
#define MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN 50
#define MAVLINK_MESSAGE_INFO_STATUSTEXT { \
"STATUSTEXT", \
2, \
{ { "severity", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_statustext_t, severity) }, \
{ "text", MAVLINK_TYPE_INT8_T, 50, 1, offsetof(mavlink_statustext_t, text) }, \
} \
}
/**
* @brief Pack a statustext message
@ -22,19 +32,27 @@ typedef struct __mavlink_statustext_t
* @param text Status text message, without null termination character
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t severity, const int8_t* text)
static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t severity, const int8_t *text)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[51];
_mav_put_uint8_t(buf, 0, severity);
_mav_put_int8_t_array(buf, 1, text, 50);
memcpy(_MAV_PAYLOAD(msg), buf, 51);
#else
mavlink_statustext_t packet;
packet.severity = severity;
memcpy(packet.text, text, sizeof(int8_t)*50);
memcpy(_MAV_PAYLOAD(msg), &packet, 51);
#endif
msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
i += put_uint8_t_by_index(severity, i, msg->payload); // Severity of status, 0 = info message, 255 = critical fault
i += put_array_by_index((const int8_t*)text, sizeof(int8_t)*50, i, msg->payload); // Status text message, without null termination character
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 51);
}
/**
* @brief Pack a statustext message
* @brief Pack a statustext 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
@ -43,15 +61,24 @@ static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t co
* @param text Status text message, without null termination character
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t severity, const int8_t* text)
static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t severity,const int8_t *text)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[51];
_mav_put_uint8_t(buf, 0, severity);
_mav_put_int8_t_array(buf, 1, text, 50);
memcpy(_MAV_PAYLOAD(msg), buf, 51);
#else
mavlink_statustext_t packet;
packet.severity = severity;
memcpy(packet.text, text, sizeof(int8_t)*50);
memcpy(_MAV_PAYLOAD(msg), &packet, 51);
#endif
msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
i += put_uint8_t_by_index(severity, i, msg->payload); // Severity of status, 0 = info message, 255 = critical fault
i += put_array_by_index((const int8_t*)text, sizeof(int8_t)*50, i, msg->payload); // Status text message, without null termination character
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 51);
}
/**
@ -76,16 +103,26 @@ static inline uint16_t mavlink_msg_statustext_encode(uint8_t system_id, uint8_t
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const int8_t* text)
static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const int8_t *text)
{
mavlink_message_t msg;
mavlink_msg_statustext_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, severity, text);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[51];
_mav_put_uint8_t(buf, 0, severity);
_mav_put_int8_t_array(buf, 1, text, 50);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, 51);
#else
mavlink_statustext_t packet;
packet.severity = severity;
memcpy(packet.text, text, sizeof(int8_t)*50);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)&packet, 51);
#endif
}
#endif
// MESSAGE STATUSTEXT UNPACKING
/**
* @brief Get field severity from statustext message
*
@ -93,7 +130,7 @@ static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t s
*/
static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -101,11 +138,9 @@ static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_
*
* @return Status text message, without null termination character
*/
static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* msg, int8_t* r_data)
static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* msg, int8_t *text)
{
memcpy(r_data, msg->payload+sizeof(uint8_t), sizeof(int8_t)*50);
return sizeof(int8_t)*50;
return _MAV_RETURN_int8_t_array(msg, text, 50, 1);
}
/**
@ -116,6 +151,10 @@ static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t*
*/
static inline void mavlink_msg_statustext_decode(const mavlink_message_t* msg, mavlink_statustext_t* statustext)
{
#if MAVLINK_NEED_BYTE_SWAP
statustext->severity = mavlink_msg_statustext_get_severity(msg);
mavlink_msg_statustext_get_text(msg, statustext->text);
#else
memcpy(statustext, _MAV_PAYLOAD(msg), 51);
#endif
}

173
libraries/GCS_MAVLink/include/common/mavlink_msg_sys_status.h
View File

@ -2,18 +2,34 @@
#define MAVLINK_MSG_ID_SYS_STATUS 34
typedef struct __mavlink_sys_status_t
typedef struct __mavlink_sys_status_t
{
uint8_t mode; ///< System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
uint8_t nav_mode; ///< Navigation mode, see MAV_NAV_MODE ENUM
uint8_t status; ///< System status flag, see MAV_STATUS ENUM
uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
uint16_t vbat; ///< Battery voltage, in millivolts (1 = 1 millivolt)
uint16_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 1000)
uint16_t packet_drop; ///< Dropped packets (packets that were corrupted on reception on the MAV)
uint8_t mode; ///< System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
uint8_t nav_mode; ///< Navigation mode, see MAV_NAV_MODE ENUM
uint8_t status; ///< System status flag, see MAV_STATUS ENUM
uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
uint16_t vbat; ///< Battery voltage, in millivolts (1 = 1 millivolt)
uint16_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 1000)
uint16_t packet_drop; ///< Dropped packets (packets that were corrupted on reception on the MAV)
} mavlink_sys_status_t;
#define MAVLINK_MSG_ID_SYS_STATUS_LEN 11
#define MAVLINK_MSG_ID_34_LEN 11
#define MAVLINK_MESSAGE_INFO_SYS_STATUS { \
"SYS_STATUS", \
7, \
{ { "mode", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_sys_status_t, mode) }, \
{ "nav_mode", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_sys_status_t, nav_mode) }, \
{ "status", MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_sys_status_t, status) }, \
{ "load", MAVLINK_TYPE_UINT16_T, 0, 3, offsetof(mavlink_sys_status_t, load) }, \
{ "vbat", MAVLINK_TYPE_UINT16_T, 0, 5, offsetof(mavlink_sys_status_t, vbat) }, \
{ "battery_remaining", MAVLINK_TYPE_UINT16_T, 0, 7, offsetof(mavlink_sys_status_t, battery_remaining) }, \
{ "packet_drop", MAVLINK_TYPE_UINT16_T, 0, 9, offsetof(mavlink_sys_status_t, packet_drop) }, \
} \
}
/**
@ -31,24 +47,39 @@ typedef struct __mavlink_sys_status_t
* @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop)
static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[11];
_mav_put_uint8_t(buf, 0, mode);
_mav_put_uint8_t(buf, 1, nav_mode);
_mav_put_uint8_t(buf, 2, status);
_mav_put_uint16_t(buf, 3, load);
_mav_put_uint16_t(buf, 5, vbat);
_mav_put_uint16_t(buf, 7, battery_remaining);
_mav_put_uint16_t(buf, 9, packet_drop);
memcpy(_MAV_PAYLOAD(msg), buf, 11);
#else
mavlink_sys_status_t packet;
packet.mode = mode;
packet.nav_mode = nav_mode;
packet.status = status;
packet.load = load;
packet.vbat = vbat;
packet.battery_remaining = battery_remaining;
packet.packet_drop = packet_drop;
memcpy(_MAV_PAYLOAD(msg), &packet, 11);
#endif
msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see MAV_NAV_MODE ENUM
i += put_uint8_t_by_index(status, i, msg->payload); // System status flag, see MAV_STATUS ENUM
i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage, in millivolts (1 = 1 millivolt)
i += put_uint16_t_by_index(battery_remaining, i, msg->payload); // Remaining battery energy: (0%: 0, 100%: 1000)
i += put_uint16_t_by_index(packet_drop, i, msg->payload); // Dropped packets (packets that were corrupted on reception on the MAV)
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 11);
}
/**
* @brief Pack a sys_status message
* @brief Pack a sys_status 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
@ -62,20 +93,36 @@ static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t co
* @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop)
static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t mode,uint8_t nav_mode,uint8_t status,uint16_t load,uint16_t vbat,uint16_t battery_remaining,uint16_t packet_drop)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[11];
_mav_put_uint8_t(buf, 0, mode);
_mav_put_uint8_t(buf, 1, nav_mode);
_mav_put_uint8_t(buf, 2, status);
_mav_put_uint16_t(buf, 3, load);
_mav_put_uint16_t(buf, 5, vbat);
_mav_put_uint16_t(buf, 7, battery_remaining);
_mav_put_uint16_t(buf, 9, packet_drop);
memcpy(_MAV_PAYLOAD(msg), buf, 11);
#else
mavlink_sys_status_t packet;
packet.mode = mode;
packet.nav_mode = nav_mode;
packet.status = status;
packet.load = load;
packet.vbat = vbat;
packet.battery_remaining = battery_remaining;
packet.packet_drop = packet_drop;
memcpy(_MAV_PAYLOAD(msg), &packet, 11);
#endif
msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see MAV_NAV_MODE ENUM
i += put_uint8_t_by_index(status, i, msg->payload); // System status flag, see MAV_STATUS ENUM
i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage, in millivolts (1 = 1 millivolt)
i += put_uint16_t_by_index(battery_remaining, i, msg->payload); // Remaining battery energy: (0%: 0, 100%: 1000)
i += put_uint16_t_by_index(packet_drop, i, msg->payload); // Dropped packets (packets that were corrupted on reception on the MAV)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 11);
}
/**
@ -107,14 +154,36 @@ static inline uint16_t mavlink_msg_sys_status_encode(uint8_t system_id, uint8_t
static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop)
{
mavlink_message_t msg;
mavlink_msg_sys_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mode, nav_mode, status, load, vbat, battery_remaining, packet_drop);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[11];
_mav_put_uint8_t(buf, 0, mode);
_mav_put_uint8_t(buf, 1, nav_mode);
_mav_put_uint8_t(buf, 2, status);
_mav_put_uint16_t(buf, 3, load);
_mav_put_uint16_t(buf, 5, vbat);
_mav_put_uint16_t(buf, 7, battery_remaining);
_mav_put_uint16_t(buf, 9, packet_drop);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, 11);
#else
mavlink_sys_status_t packet;
packet.mode = mode;
packet.nav_mode = nav_mode;
packet.status = status;
packet.load = load;
packet.vbat = vbat;
packet.battery_remaining = battery_remaining;
packet.packet_drop = packet_drop;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)&packet, 11);
#endif
}
#endif
// MESSAGE SYS_STATUS UNPACKING
/**
* @brief Get field mode from sys_status message
*
@ -122,7 +191,7 @@ static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint8_t m
*/
static inline uint8_t mavlink_msg_sys_status_get_mode(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -132,7 +201,7 @@ static inline uint8_t mavlink_msg_sys_status_get_mode(const mavlink_message_t* m
*/
static inline uint8_t mavlink_msg_sys_status_get_nav_mode(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -142,7 +211,7 @@ static inline uint8_t mavlink_msg_sys_status_get_nav_mode(const mavlink_message_
*/
static inline uint8_t mavlink_msg_sys_status_get_status(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
@ -152,10 +221,7 @@ static inline uint8_t mavlink_msg_sys_status_get_status(const mavlink_message_t*
*/
static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 3);
}
/**
@ -165,10 +231,7 @@ static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t*
*/
static inline uint16_t mavlink_msg_sys_status_get_vbat(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 5);
}
/**
@ -178,10 +241,7 @@ static inline uint16_t mavlink_msg_sys_status_get_vbat(const mavlink_message_t*
*/
static inline uint16_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 7);
}
/**
@ -191,10 +251,7 @@ static inline uint16_t mavlink_msg_sys_status_get_battery_remaining(const mavlin
*/
static inline uint16_t mavlink_msg_sys_status_get_packet_drop(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 9);
}
/**
@ -205,6 +262,7 @@ static inline uint16_t mavlink_msg_sys_status_get_packet_drop(const mavlink_mess
*/
static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status)
{
#if MAVLINK_NEED_BYTE_SWAP
sys_status->mode = mavlink_msg_sys_status_get_mode(msg);
sys_status->nav_mode = mavlink_msg_sys_status_get_nav_mode(msg);
sys_status->status = mavlink_msg_sys_status_get_status(msg);
@ -212,4 +270,7 @@ static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, m
sys_status->vbat = mavlink_msg_sys_status_get_vbat(msg);
sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg);
sys_status->packet_drop = mavlink_msg_sys_status_get_packet_drop(msg);
#else
memcpy(sys_status, _MAV_PAYLOAD(msg), 11);
#endif
}

92
libraries/GCS_MAVLink/include/common/mavlink_msg_system_time.h
View File

@ -2,12 +2,22 @@
#define MAVLINK_MSG_ID_SYSTEM_TIME 2
typedef struct __mavlink_system_time_t
typedef struct __mavlink_system_time_t
{
uint64_t time_usec; ///< Timestamp of the master clock in microseconds since UNIX epoch.
uint64_t time_usec; ///< Timestamp of the master clock in microseconds since UNIX epoch.
} mavlink_system_time_t;
#define MAVLINK_MSG_ID_SYSTEM_TIME_LEN 8
#define MAVLINK_MSG_ID_2_LEN 8
#define MAVLINK_MESSAGE_INFO_SYSTEM_TIME { \
"SYSTEM_TIME", \
1, \
{ { "time_usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_system_time_t, time_usec) }, \
} \
}
/**
@ -19,18 +29,27 @@ typedef struct __mavlink_system_time_t
* @param time_usec Timestamp of the master clock in microseconds since UNIX epoch.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_usec)
static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_usec)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint64_t(buf, 0, time_usec);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
#else
mavlink_system_time_t packet;
packet.time_usec = time_usec;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
i += put_uint64_t_by_index(time_usec, i, msg->payload); // Timestamp of the master clock in microseconds since UNIX epoch.
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 8);
}
/**
* @brief Pack a system_time message
* @brief Pack a system_time 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
@ -38,14 +57,24 @@ static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t c
* @param time_usec Timestamp of the master clock in microseconds since UNIX epoch.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_usec)
static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_usec)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint64_t(buf, 0, time_usec);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
#else
mavlink_system_time_t packet;
packet.time_usec = time_usec;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
i += put_uint64_t_by_index(time_usec, i, msg->payload); // Timestamp of the master clock in microseconds since UNIX epoch.
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8);
}
/**
@ -71,14 +100,24 @@ static inline uint16_t mavlink_msg_system_time_encode(uint8_t system_id, uint8_t
static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_usec)
{
mavlink_message_t msg;
mavlink_msg_system_time_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_usec);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, 8);
#else
mavlink_system_time_t packet;
packet.time_usec = time_usec;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)&packet, 8);
#endif
}
#endif
// MESSAGE SYSTEM_TIME UNPACKING
/**
* @brief Get field time_usec from system_time message
*
@ -86,16 +125,7 @@ static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t
*/
static inline uint64_t mavlink_msg_system_time_get_time_usec(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
@ -106,5 +136,9 @@ static inline uint64_t mavlink_msg_system_time_get_time_usec(const mavlink_messa
*/
static inline void mavlink_msg_system_time_decode(const mavlink_message_t* msg, mavlink_system_time_t* system_time)
{
#if MAVLINK_NEED_BYTE_SWAP
system_time->time_usec = mavlink_msg_system_time_get_time_usec(msg);
#else
memcpy(system_time, _MAV_PAYLOAD(msg), 8);
#endif
}

106
libraries/GCS_MAVLink/include/common/mavlink_msg_system_time_utc.h
View File

@ -2,13 +2,24 @@
#define MAVLINK_MSG_ID_SYSTEM_TIME_UTC 4
typedef struct __mavlink_system_time_utc_t
typedef struct __mavlink_system_time_utc_t
{
uint32_t utc_date; ///< GPS UTC date ddmmyy
uint32_t utc_time; ///< GPS UTC time hhmmss
uint32_t utc_date; ///< GPS UTC date ddmmyy
uint32_t utc_time; ///< GPS UTC time hhmmss
} mavlink_system_time_utc_t;
#define MAVLINK_MSG_ID_SYSTEM_TIME_UTC_LEN 8
#define MAVLINK_MSG_ID_4_LEN 8
#define MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC { \
"SYSTEM_TIME_UTC", \
2, \
{ { "utc_date", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_system_time_utc_t, utc_date) }, \
{ "utc_time", MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_system_time_utc_t, utc_time) }, \
} \
}
/**
@ -21,19 +32,29 @@ typedef struct __mavlink_system_time_utc_t
* @param utc_time GPS UTC time hhmmss
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_system_time_utc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t utc_date, uint32_t utc_time)
static inline uint16_t mavlink_msg_system_time_utc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t utc_date, uint32_t utc_time)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint32_t(buf, 0, utc_date);
_mav_put_uint32_t(buf, 4, utc_time);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
#else
mavlink_system_time_utc_t packet;
packet.utc_date = utc_date;
packet.utc_time = utc_time;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME_UTC;
i += put_uint32_t_by_index(utc_date, i, msg->payload); // GPS UTC date ddmmyy
i += put_uint32_t_by_index(utc_time, i, msg->payload); // GPS UTC time hhmmss
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 8);
}
/**
* @brief Pack a system_time_utc message
* @brief Pack a system_time_utc 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
@ -42,15 +63,26 @@ static inline uint16_t mavlink_msg_system_time_utc_pack(uint8_t system_id, uint8
* @param utc_time GPS UTC time hhmmss
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_system_time_utc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t utc_date, uint32_t utc_time)
static inline uint16_t mavlink_msg_system_time_utc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t utc_date,uint32_t utc_time)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint32_t(buf, 0, utc_date);
_mav_put_uint32_t(buf, 4, utc_time);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
#else
mavlink_system_time_utc_t packet;
packet.utc_date = utc_date;
packet.utc_time = utc_time;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME_UTC;
i += put_uint32_t_by_index(utc_date, i, msg->payload); // GPS UTC date ddmmyy
i += put_uint32_t_by_index(utc_time, i, msg->payload); // GPS UTC time hhmmss
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8);
}
/**
@ -77,14 +109,26 @@ static inline uint16_t mavlink_msg_system_time_utc_encode(uint8_t system_id, uin
static inline void mavlink_msg_system_time_utc_send(mavlink_channel_t chan, uint32_t utc_date, uint32_t utc_time)
{
mavlink_message_t msg;
mavlink_msg_system_time_utc_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, utc_date, utc_time);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint32_t(buf, 0, utc_date);
_mav_put_uint32_t(buf, 4, utc_time);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME_UTC, buf, 8);
#else
mavlink_system_time_utc_t packet;
packet.utc_date = utc_date;
packet.utc_time = utc_time;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME_UTC, (const char *)&packet, 8);
#endif
}
#endif
// MESSAGE SYSTEM_TIME_UTC UNPACKING
/**
* @brief Get field utc_date from system_time_utc message
*
@ -92,12 +136,7 @@ static inline void mavlink_msg_system_time_utc_send(mavlink_channel_t chan, uint
*/
static inline uint32_t mavlink_msg_system_time_utc_get_utc_date(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (uint32_t)r.i;
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
@ -107,12 +146,7 @@ static inline uint32_t mavlink_msg_system_time_utc_get_utc_date(const mavlink_me
*/
static inline uint32_t mavlink_msg_system_time_utc_get_utc_time(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint32_t))[0];
r.b[2] = (msg->payload+sizeof(uint32_t))[1];
r.b[1] = (msg->payload+sizeof(uint32_t))[2];
r.b[0] = (msg->payload+sizeof(uint32_t))[3];
return (uint32_t)r.i;
return _MAV_RETURN_uint32_t(msg, 4);
}
/**
@ -123,6 +157,10 @@ static inline uint32_t mavlink_msg_system_time_utc_get_utc_time(const mavlink_me
*/
static inline void mavlink_msg_system_time_utc_decode(const mavlink_message_t* msg, mavlink_system_time_utc_t* system_time_utc)
{
#if MAVLINK_NEED_BYTE_SWAP
system_time_utc->utc_date = mavlink_msg_system_time_utc_get_utc_date(msg);
system_time_utc->utc_time = mavlink_msg_system_time_utc_get_utc_time(msg);
#else
memcpy(system_time_utc, _MAV_PAYLOAD(msg), 8);
#endif
}

174
libraries/GCS_MAVLink/include/common/mavlink_msg_vfr_hud.h
View File

@ -2,17 +2,32 @@
#define MAVLINK_MSG_ID_VFR_HUD 74
typedef struct __mavlink_vfr_hud_t
typedef struct __mavlink_vfr_hud_t
{
float airspeed; ///< Current airspeed in m/s
float groundspeed; ///< Current ground speed in m/s
int16_t heading; ///< Current heading in degrees, in compass units (0..360, 0=north)
uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100
float alt; ///< Current altitude (MSL), in meters
float climb; ///< Current climb rate in meters/second
float airspeed; ///< Current airspeed in m/s
float groundspeed; ///< Current ground speed in m/s
int16_t heading; ///< Current heading in degrees, in compass units (0..360, 0=north)
uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100
float alt; ///< Current altitude (MSL), in meters
float climb; ///< Current climb rate in meters/second
} mavlink_vfr_hud_t;
#define MAVLINK_MSG_ID_VFR_HUD_LEN 20
#define MAVLINK_MSG_ID_74_LEN 20
#define MAVLINK_MESSAGE_INFO_VFR_HUD { \
"VFR_HUD", \
6, \
{ { "airspeed", MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_vfr_hud_t, airspeed) }, \
{ "groundspeed", MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_vfr_hud_t, groundspeed) }, \
{ "heading", MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_vfr_hud_t, heading) }, \
{ "throttle", MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_vfr_hud_t, throttle) }, \
{ "alt", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vfr_hud_t, alt) }, \
{ "climb", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vfr_hud_t, climb) }, \
} \
}
/**
@ -29,23 +44,37 @@ typedef struct __mavlink_vfr_hud_t
* @param climb Current climb rate in meters/second
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_float(buf, 0, airspeed);
_mav_put_float(buf, 4, groundspeed);
_mav_put_int16_t(buf, 8, heading);
_mav_put_uint16_t(buf, 10, throttle);
_mav_put_float(buf, 12, alt);
_mav_put_float(buf, 16, climb);
memcpy(_MAV_PAYLOAD(msg), buf, 20);
#else
mavlink_vfr_hud_t packet;
packet.airspeed = airspeed;
packet.groundspeed = groundspeed;
packet.heading = heading;
packet.throttle = throttle;
packet.alt = alt;
packet.climb = climb;
memcpy(_MAV_PAYLOAD(msg), &packet, 20);
#endif
msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
i += put_float_by_index(airspeed, i, msg->payload); // Current airspeed in m/s
i += put_float_by_index(groundspeed, i, msg->payload); // Current ground speed in m/s
i += put_int16_t_by_index(heading, i, msg->payload); // Current heading in degrees, in compass units (0..360, 0=north)
i += put_uint16_t_by_index(throttle, i, msg->payload); // Current throttle setting in integer percent, 0 to 100
i += put_float_by_index(alt, i, msg->payload); // Current altitude (MSL), in meters
i += put_float_by_index(climb, i, msg->payload); // Current climb rate in meters/second
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 20);
}
/**
* @brief Pack a vfr_hud message
* @brief Pack a vfr_hud 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
@ -58,19 +87,34 @@ static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t compo
* @param climb Current climb rate in meters/second
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float airspeed,float groundspeed,int16_t heading,uint16_t throttle,float alt,float climb)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_float(buf, 0, airspeed);
_mav_put_float(buf, 4, groundspeed);
_mav_put_int16_t(buf, 8, heading);
_mav_put_uint16_t(buf, 10, throttle);
_mav_put_float(buf, 12, alt);
_mav_put_float(buf, 16, climb);
memcpy(_MAV_PAYLOAD(msg), buf, 20);
#else
mavlink_vfr_hud_t packet;
packet.airspeed = airspeed;
packet.groundspeed = groundspeed;
packet.heading = heading;
packet.throttle = throttle;
packet.alt = alt;
packet.climb = climb;
memcpy(_MAV_PAYLOAD(msg), &packet, 20);
#endif
msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
i += put_float_by_index(airspeed, i, msg->payload); // Current airspeed in m/s
i += put_float_by_index(groundspeed, i, msg->payload); // Current ground speed in m/s
i += put_int16_t_by_index(heading, i, msg->payload); // Current heading in degrees, in compass units (0..360, 0=north)
i += put_uint16_t_by_index(throttle, i, msg->payload); // Current throttle setting in integer percent, 0 to 100
i += put_float_by_index(alt, i, msg->payload); // Current altitude (MSL), in meters
i += put_float_by_index(climb, i, msg->payload); // Current climb rate in meters/second
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20);
}
/**
@ -101,14 +145,34 @@ static inline uint16_t mavlink_msg_vfr_hud_encode(uint8_t system_id, uint8_t com
static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
{
mavlink_message_t msg;
mavlink_msg_vfr_hud_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, airspeed, groundspeed, heading, throttle, alt, climb);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_float(buf, 0, airspeed);
_mav_put_float(buf, 4, groundspeed);
_mav_put_int16_t(buf, 8, heading);
_mav_put_uint16_t(buf, 10, throttle);
_mav_put_float(buf, 12, alt);
_mav_put_float(buf, 16, climb);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, 20);
#else
mavlink_vfr_hud_t packet;
packet.airspeed = airspeed;
packet.groundspeed = groundspeed;
packet.heading = heading;
packet.throttle = throttle;
packet.alt = alt;
packet.climb = climb;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)&packet, 20);
#endif
}
#endif
// MESSAGE VFR_HUD UNPACKING
/**
* @brief Get field airspeed from vfr_hud message
*
@ -116,12 +180,7 @@ static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspe
*/
static inline float mavlink_msg_vfr_hud_get_airspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 0);
}
/**
@ -131,12 +190,7 @@ static inline float mavlink_msg_vfr_hud_get_airspeed(const mavlink_message_t* ms
*/
static inline float mavlink_msg_vfr_hud_get_groundspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 4);
}
/**
@ -146,10 +200,7 @@ static inline float mavlink_msg_vfr_hud_get_groundspeed(const mavlink_message_t*
*/
static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[0];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[1];
return (int16_t)r.s;
return _MAV_RETURN_int16_t(msg, 8);
}
/**
@ -159,10 +210,7 @@ static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* m
*/
static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 10);
}
/**
@ -172,12 +220,7 @@ static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t*
*/
static inline float mavlink_msg_vfr_hud_get_alt(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[0];
r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[1];
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[2];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 12);
}
/**
@ -187,12 +230,7 @@ static inline float mavlink_msg_vfr_hud_get_alt(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 16);
}
/**
@ -203,10 +241,14 @@ static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg)
*/
static inline void mavlink_msg_vfr_hud_decode(const mavlink_message_t* msg, mavlink_vfr_hud_t* vfr_hud)
{
#if MAVLINK_NEED_BYTE_SWAP
vfr_hud->airspeed = mavlink_msg_vfr_hud_get_airspeed(msg);
vfr_hud->groundspeed = mavlink_msg_vfr_hud_get_groundspeed(msg);
vfr_hud->heading = mavlink_msg_vfr_hud_get_heading(msg);
vfr_hud->throttle = mavlink_msg_vfr_hud_get_throttle(msg);
vfr_hud->alt = mavlink_msg_vfr_hud_get_alt(msg);
vfr_hud->climb = mavlink_msg_vfr_hud_get_climb(msg);
#else
memcpy(vfr_hud, _MAV_PAYLOAD(msg), 20);
#endif
}

290
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint.h
View File

@ -2,25 +2,48 @@
#define MAVLINK_MSG_ID_WAYPOINT 39
typedef struct __mavlink_waypoint_t
typedef struct __mavlink_waypoint_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint16_t seq; ///< Sequence
uint8_t frame; ///< The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
uint8_t command; ///< The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
uint8_t current; ///< false:0, true:1
uint8_t autocontinue; ///< autocontinue to next wp
float param1; ///< PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
float param2; ///< PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
float param3; ///< PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
float param4; ///< PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
float x; ///< PARAM5 / local: x position, global: latitude
float y; ///< PARAM6 / y position: global: longitude
float z; ///< PARAM7 / z position: global: altitude
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint16_t seq; ///< Sequence
uint8_t frame; ///< The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
uint8_t command; ///< The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
uint8_t current; ///< false:0, true:1
uint8_t autocontinue; ///< autocontinue to next wp
float param1; ///< PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
float param2; ///< PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
float param3; ///< PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
float param4; ///< PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
float x; ///< PARAM5 / local: x position, global: latitude
float y; ///< PARAM6 / y position: global: longitude
float z; ///< PARAM7 / z position: global: altitude
} mavlink_waypoint_t;
#define MAVLINK_MSG_ID_WAYPOINT_LEN 36
#define MAVLINK_MSG_ID_39_LEN 36
#define MAVLINK_MESSAGE_INFO_WAYPOINT { \
"WAYPOINT", \
14, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_t, target_component) }, \
{ "seq", MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_waypoint_t, seq) }, \
{ "frame", MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_waypoint_t, frame) }, \
{ "command", MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_waypoint_t, command) }, \
{ "current", MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_waypoint_t, current) }, \
{ "autocontinue", MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_waypoint_t, autocontinue) }, \
{ "param1", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_waypoint_t, param1) }, \
{ "param2", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_waypoint_t, param2) }, \
{ "param3", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_waypoint_t, param3) }, \
{ "param4", MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_waypoint_t, param4) }, \
{ "x", MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_waypoint_t, x) }, \
{ "y", MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_waypoint_t, y) }, \
{ "z", MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_waypoint_t, z) }, \
} \
}
/**
@ -45,31 +68,53 @@ typedef struct __mavlink_waypoint_t
* @param z PARAM7 / z position: global: altitude
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
static inline uint16_t mavlink_msg_waypoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint16_t(buf, 2, seq);
_mav_put_uint8_t(buf, 4, frame);
_mav_put_uint8_t(buf, 5, command);
_mav_put_uint8_t(buf, 6, current);
_mav_put_uint8_t(buf, 7, autocontinue);
_mav_put_float(buf, 8, param1);
_mav_put_float(buf, 12, param2);
_mav_put_float(buf, 16, param3);
_mav_put_float(buf, 20, param4);
_mav_put_float(buf, 24, x);
_mav_put_float(buf, 28, y);
_mav_put_float(buf, 32, z);
memcpy(_MAV_PAYLOAD(msg), buf, 36);
#else
mavlink_waypoint_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.seq = seq;
packet.frame = frame;
packet.command = command;
packet.current = current;
packet.autocontinue = autocontinue;
packet.param1 = param1;
packet.param2 = param2;
packet.param3 = param3;
packet.param4 = param4;
packet.x = x;
packet.y = y;
packet.z = z;
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence
i += put_uint8_t_by_index(frame, i, msg->payload); // The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
i += put_uint8_t_by_index(command, i, msg->payload); // The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
i += put_uint8_t_by_index(current, i, msg->payload); // false:0, true:1
i += put_uint8_t_by_index(autocontinue, i, msg->payload); // autocontinue to next wp
i += put_float_by_index(param1, i, msg->payload); // PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
i += put_float_by_index(param2, i, msg->payload); // PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
i += put_float_by_index(param3, i, msg->payload); // PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
i += put_float_by_index(param4, i, msg->payload); // PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
i += put_float_by_index(x, i, msg->payload); // PARAM5 / local: x position, global: latitude
i += put_float_by_index(y, i, msg->payload); // PARAM6 / y position: global: longitude
i += put_float_by_index(z, i, msg->payload); // PARAM7 / z position: global: altitude
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 36);
}
/**
* @brief Pack a waypoint message
* @brief Pack a waypoint 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
@ -90,27 +135,50 @@ static inline uint16_t mavlink_msg_waypoint_pack(uint8_t system_id, uint8_t comp
* @param z PARAM7 / z position: global: altitude
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_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, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
static inline uint16_t mavlink_msg_waypoint_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,uint16_t seq,uint8_t frame,uint8_t command,uint8_t current,uint8_t autocontinue,float param1,float param2,float param3,float param4,float x,float y,float z)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint16_t(buf, 2, seq);
_mav_put_uint8_t(buf, 4, frame);
_mav_put_uint8_t(buf, 5, command);
_mav_put_uint8_t(buf, 6, current);
_mav_put_uint8_t(buf, 7, autocontinue);
_mav_put_float(buf, 8, param1);
_mav_put_float(buf, 12, param2);
_mav_put_float(buf, 16, param3);
_mav_put_float(buf, 20, param4);
_mav_put_float(buf, 24, x);
_mav_put_float(buf, 28, y);
_mav_put_float(buf, 32, z);
memcpy(_MAV_PAYLOAD(msg), buf, 36);
#else
mavlink_waypoint_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.seq = seq;
packet.frame = frame;
packet.command = command;
packet.current = current;
packet.autocontinue = autocontinue;
packet.param1 = param1;
packet.param2 = param2;
packet.param3 = param3;
packet.param4 = param4;
packet.x = x;
packet.y = y;
packet.z = z;
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence
i += put_uint8_t_by_index(frame, i, msg->payload); // The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
i += put_uint8_t_by_index(command, i, msg->payload); // The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
i += put_uint8_t_by_index(current, i, msg->payload); // false:0, true:1
i += put_uint8_t_by_index(autocontinue, i, msg->payload); // autocontinue to next wp
i += put_float_by_index(param1, i, msg->payload); // PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
i += put_float_by_index(param2, i, msg->payload); // PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
i += put_float_by_index(param3, i, msg->payload); // PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
i += put_float_by_index(param4, i, msg->payload); // PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
i += put_float_by_index(x, i, msg->payload); // PARAM5 / local: x position, global: latitude
i += put_float_by_index(y, i, msg->payload); // PARAM6 / y position: global: longitude
i += put_float_by_index(z, i, msg->payload); // PARAM7 / z position: global: altitude
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36);
}
/**
@ -149,14 +217,50 @@ static inline uint16_t mavlink_msg_waypoint_encode(uint8_t system_id, uint8_t co
static inline void mavlink_msg_waypoint_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
{
mavlink_message_t msg;
mavlink_msg_waypoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint16_t(buf, 2, seq);
_mav_put_uint8_t(buf, 4, frame);
_mav_put_uint8_t(buf, 5, command);
_mav_put_uint8_t(buf, 6, current);
_mav_put_uint8_t(buf, 7, autocontinue);
_mav_put_float(buf, 8, param1);
_mav_put_float(buf, 12, param2);
_mav_put_float(buf, 16, param3);
_mav_put_float(buf, 20, param4);
_mav_put_float(buf, 24, x);
_mav_put_float(buf, 28, y);
_mav_put_float(buf, 32, z);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT, buf, 36);
#else
mavlink_waypoint_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.seq = seq;
packet.frame = frame;
packet.command = command;
packet.current = current;
packet.autocontinue = autocontinue;
packet.param1 = param1;
packet.param2 = param2;
packet.param3 = param3;
packet.param4 = param4;
packet.x = x;
packet.y = y;
packet.z = z;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT, (const char *)&packet, 36);
#endif
}
#endif
// MESSAGE WAYPOINT UNPACKING
/**
* @brief Get field target_system from waypoint message
*
@ -164,7 +268,7 @@ static inline void mavlink_msg_waypoint_send(mavlink_channel_t chan, uint8_t tar
*/
static inline uint8_t mavlink_msg_waypoint_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -174,7 +278,7 @@ static inline uint8_t mavlink_msg_waypoint_get_target_system(const mavlink_messa
*/
static inline uint8_t mavlink_msg_waypoint_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -184,10 +288,7 @@ static inline uint8_t mavlink_msg_waypoint_get_target_component(const mavlink_me
*/
static inline uint16_t mavlink_msg_waypoint_get_seq(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 2);
}
/**
@ -197,7 +298,7 @@ static inline uint16_t mavlink_msg_waypoint_get_seq(const mavlink_message_t* msg
*/
static inline uint8_t mavlink_msg_waypoint_get_frame(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0];
return _MAV_RETURN_uint8_t(msg, 4);
}
/**
@ -207,7 +308,7 @@ static inline uint8_t mavlink_msg_waypoint_get_frame(const mavlink_message_t* ms
*/
static inline uint8_t mavlink_msg_waypoint_get_command(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 5);
}
/**
@ -217,7 +318,7 @@ static inline uint8_t mavlink_msg_waypoint_get_command(const mavlink_message_t*
*/
static inline uint8_t mavlink_msg_waypoint_get_current(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 6);
}
/**
@ -227,7 +328,7 @@ static inline uint8_t mavlink_msg_waypoint_get_current(const mavlink_message_t*
*/
static inline uint8_t mavlink_msg_waypoint_get_autocontinue(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 7);
}
/**
@ -237,12 +338,7 @@ static inline uint8_t mavlink_msg_waypoint_get_autocontinue(const mavlink_messag
*/
static inline float mavlink_msg_waypoint_get_param1(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 8);
}
/**
@ -252,12 +348,7 @@ static inline float mavlink_msg_waypoint_get_param1(const mavlink_message_t* msg
*/
static inline float mavlink_msg_waypoint_get_param2(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 12);
}
/**
@ -267,12 +358,7 @@ static inline float mavlink_msg_waypoint_get_param2(const mavlink_message_t* msg
*/
static inline float mavlink_msg_waypoint_get_param3(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 16);
}
/**
@ -282,12 +368,7 @@ static inline float mavlink_msg_waypoint_get_param3(const mavlink_message_t* msg
*/
static inline float mavlink_msg_waypoint_get_param4(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 20);
}
/**
@ -297,12 +378,7 @@ static inline float mavlink_msg_waypoint_get_param4(const mavlink_message_t* msg
*/
static inline float mavlink_msg_waypoint_get_x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 24);
}
/**
@ -312,12 +388,7 @@ static inline float mavlink_msg_waypoint_get_x(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_waypoint_get_y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 28);
}
/**
@ -327,12 +398,7 @@ static inline float mavlink_msg_waypoint_get_y(const mavlink_message_t* msg)
*/
static inline float mavlink_msg_waypoint_get_z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
return _MAV_RETURN_float(msg, 32);
}
/**
@ -343,6 +409,7 @@ static inline float mavlink_msg_waypoint_get_z(const mavlink_message_t* msg)
*/
static inline void mavlink_msg_waypoint_decode(const mavlink_message_t* msg, mavlink_waypoint_t* waypoint)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint->target_system = mavlink_msg_waypoint_get_target_system(msg);
waypoint->target_component = mavlink_msg_waypoint_get_target_component(msg);
waypoint->seq = mavlink_msg_waypoint_get_seq(msg);
@ -357,4 +424,7 @@ static inline void mavlink_msg_waypoint_decode(const mavlink_message_t* msg, mav
waypoint->x = mavlink_msg_waypoint_get_x(msg);
waypoint->y = mavlink_msg_waypoint_get_y(msg);
waypoint->z = mavlink_msg_waypoint_get_z(msg);
#else
memcpy(waypoint, _MAV_PAYLOAD(msg), 36);
#endif
}

109
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_ack.h
View File

@ -2,14 +2,26 @@
#define MAVLINK_MSG_ID_WAYPOINT_ACK 47
typedef struct __mavlink_waypoint_ack_t
typedef struct __mavlink_waypoint_ack_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t type; ///< 0: OK, 1: Error
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t type; ///< 0: OK, 1: Error
} mavlink_waypoint_ack_t;
#define MAVLINK_MSG_ID_WAYPOINT_ACK_LEN 3
#define MAVLINK_MSG_ID_47_LEN 3
#define MAVLINK_MESSAGE_INFO_WAYPOINT_ACK { \
"WAYPOINT_ACK", \
3, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_ack_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_ack_t, target_component) }, \
{ "type", MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_waypoint_ack_t, type) }, \
} \
}
/**
@ -23,20 +35,31 @@ typedef struct __mavlink_waypoint_ack_t
* @param type 0: OK, 1: Error
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t type)
static inline uint16_t mavlink_msg_waypoint_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint8_t type)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, type);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
#else
mavlink_waypoint_ack_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.type = type;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_ACK;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_uint8_t_by_index(type, i, msg->payload); // 0: OK, 1: Error
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 3);
}
/**
* @brief Pack a waypoint_ack message
* @brief Pack a waypoint_ack 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
@ -46,16 +69,28 @@ static inline uint16_t mavlink_msg_waypoint_ack_pack(uint8_t system_id, uint8_t
* @param type 0: OK, 1: Error
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_ack_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 type)
static inline uint16_t mavlink_msg_waypoint_ack_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 type)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, type);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
#else
mavlink_waypoint_ack_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.type = type;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_ACK;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_uint8_t_by_index(type, i, msg->payload); // 0: OK, 1: Error
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3);
}
/**
@ -83,14 +118,28 @@ static inline uint16_t mavlink_msg_waypoint_ack_encode(uint8_t system_id, uint8_
static inline void mavlink_msg_waypoint_ack_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t type)
{
mavlink_message_t msg;
mavlink_msg_waypoint_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, type);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, type);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_ACK, buf, 3);
#else
mavlink_waypoint_ack_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.type = type;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_ACK, (const char *)&packet, 3);
#endif
}
#endif
// MESSAGE WAYPOINT_ACK UNPACKING
/**
* @brief Get field target_system from waypoint_ack message
*
@ -98,7 +147,7 @@ static inline void mavlink_msg_waypoint_ack_send(mavlink_channel_t chan, uint8_t
*/
static inline uint8_t mavlink_msg_waypoint_ack_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -108,7 +157,7 @@ static inline uint8_t mavlink_msg_waypoint_ack_get_target_system(const mavlink_m
*/
static inline uint8_t mavlink_msg_waypoint_ack_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -118,7 +167,7 @@ static inline uint8_t mavlink_msg_waypoint_ack_get_target_component(const mavlin
*/
static inline uint8_t mavlink_msg_waypoint_ack_get_type(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
@ -129,7 +178,11 @@ static inline uint8_t mavlink_msg_waypoint_ack_get_type(const mavlink_message_t*
*/
static inline void mavlink_msg_waypoint_ack_decode(const mavlink_message_t* msg, mavlink_waypoint_ack_t* waypoint_ack)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint_ack->target_system = mavlink_msg_waypoint_ack_get_target_system(msg);
waypoint_ack->target_component = mavlink_msg_waypoint_ack_get_target_component(msg);
waypoint_ack->type = mavlink_msg_waypoint_ack_get_type(msg);
#else
memcpy(waypoint_ack, _MAV_PAYLOAD(msg), 3);
#endif
}

96
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_clear_all.h
View File

@ -2,13 +2,24 @@
#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL 45
typedef struct __mavlink_waypoint_clear_all_t
typedef struct __mavlink_waypoint_clear_all_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
} mavlink_waypoint_clear_all_t;
#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL_LEN 2
#define MAVLINK_MSG_ID_45_LEN 2
#define MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL { \
"WAYPOINT_CLEAR_ALL", \
2, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_clear_all_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_clear_all_t, target_component) }, \
} \
}
/**
@ -21,19 +32,29 @@ typedef struct __mavlink_waypoint_clear_all_t
* @param target_component Component ID
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_clear_all_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component)
static inline uint16_t mavlink_msg_waypoint_clear_all_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_waypoint_clear_all_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 2);
}
/**
* @brief Pack a waypoint_clear_all message
* @brief Pack a waypoint_clear_all 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
@ -42,15 +63,26 @@ static inline uint16_t mavlink_msg_waypoint_clear_all_pack(uint8_t system_id, ui
* @param target_component Component ID
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_clear_all_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)
static inline uint16_t mavlink_msg_waypoint_clear_all_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)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_waypoint_clear_all_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2);
}
/**
@ -77,14 +109,26 @@ static inline uint16_t mavlink_msg_waypoint_clear_all_encode(uint8_t system_id,
static inline void mavlink_msg_waypoint_clear_all_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
{
mavlink_message_t msg;
mavlink_msg_waypoint_clear_all_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL, buf, 2);
#else
mavlink_waypoint_clear_all_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL, (const char *)&packet, 2);
#endif
}
#endif
// MESSAGE WAYPOINT_CLEAR_ALL UNPACKING
/**
* @brief Get field target_system from waypoint_clear_all message
*
@ -92,7 +136,7 @@ static inline void mavlink_msg_waypoint_clear_all_send(mavlink_channel_t chan, u
*/
static inline uint8_t mavlink_msg_waypoint_clear_all_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -102,7 +146,7 @@ static inline uint8_t mavlink_msg_waypoint_clear_all_get_target_system(const mav
*/
static inline uint8_t mavlink_msg_waypoint_clear_all_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -113,6 +157,10 @@ static inline uint8_t mavlink_msg_waypoint_clear_all_get_target_component(const
*/
static inline void mavlink_msg_waypoint_clear_all_decode(const mavlink_message_t* msg, mavlink_waypoint_clear_all_t* waypoint_clear_all)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint_clear_all->target_system = mavlink_msg_waypoint_clear_all_get_target_system(msg);
waypoint_clear_all->target_component = mavlink_msg_waypoint_clear_all_get_target_component(msg);
#else
memcpy(waypoint_clear_all, _MAV_PAYLOAD(msg), 2);
#endif
}

112
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_count.h
View File

@ -2,14 +2,26 @@
#define MAVLINK_MSG_ID_WAYPOINT_COUNT 44
typedef struct __mavlink_waypoint_count_t
typedef struct __mavlink_waypoint_count_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint16_t count; ///< Number of Waypoints in the Sequence
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint16_t count; ///< Number of Waypoints in the Sequence
} mavlink_waypoint_count_t;
#define MAVLINK_MSG_ID_WAYPOINT_COUNT_LEN 4
#define MAVLINK_MSG_ID_44_LEN 4
#define MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT { \
"WAYPOINT_COUNT", \
3, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_count_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_count_t, target_component) }, \
{ "count", MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_waypoint_count_t, count) }, \
} \
}
/**
@ -23,20 +35,31 @@ typedef struct __mavlink_waypoint_count_t
* @param count Number of Waypoints in the Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_count_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t count)
static inline uint16_t mavlink_msg_waypoint_count_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint16_t count)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint16_t(buf, 2, count);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_waypoint_count_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.count = count;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_COUNT;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_uint16_t_by_index(count, i, msg->payload); // Number of Waypoints in the Sequence
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 4);
}
/**
* @brief Pack a waypoint_count message
* @brief Pack a waypoint_count 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
@ -46,16 +69,28 @@ static inline uint16_t mavlink_msg_waypoint_count_pack(uint8_t system_id, uint8_
* @param count Number of Waypoints in the Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_count_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, uint16_t count)
static inline uint16_t mavlink_msg_waypoint_count_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,uint16_t count)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint16_t(buf, 2, count);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_waypoint_count_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.count = count;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_COUNT;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_uint16_t_by_index(count, i, msg->payload); // Number of Waypoints in the Sequence
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4);
}
/**
@ -83,14 +118,28 @@ static inline uint16_t mavlink_msg_waypoint_count_encode(uint8_t system_id, uint
static inline void mavlink_msg_waypoint_count_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t count)
{
mavlink_message_t msg;
mavlink_msg_waypoint_count_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, count);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint16_t(buf, 2, count);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_COUNT, buf, 4);
#else
mavlink_waypoint_count_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.count = count;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_COUNT, (const char *)&packet, 4);
#endif
}
#endif
// MESSAGE WAYPOINT_COUNT UNPACKING
/**
* @brief Get field target_system from waypoint_count message
*
@ -98,7 +147,7 @@ static inline void mavlink_msg_waypoint_count_send(mavlink_channel_t chan, uint8
*/
static inline uint8_t mavlink_msg_waypoint_count_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -108,7 +157,7 @@ static inline uint8_t mavlink_msg_waypoint_count_get_target_system(const mavlink
*/
static inline uint8_t mavlink_msg_waypoint_count_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -118,10 +167,7 @@ static inline uint8_t mavlink_msg_waypoint_count_get_target_component(const mavl
*/
static inline uint16_t mavlink_msg_waypoint_count_get_count(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 2);
}
/**
@ -132,7 +178,11 @@ static inline uint16_t mavlink_msg_waypoint_count_get_count(const mavlink_messag
*/
static inline void mavlink_msg_waypoint_count_decode(const mavlink_message_t* msg, mavlink_waypoint_count_t* waypoint_count)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint_count->target_system = mavlink_msg_waypoint_count_get_target_system(msg);
waypoint_count->target_component = mavlink_msg_waypoint_count_get_target_component(msg);
waypoint_count->count = mavlink_msg_waypoint_count_get_count(msg);
#else
memcpy(waypoint_count, _MAV_PAYLOAD(msg), 4);
#endif
}

86
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_current.h
View File

@ -2,12 +2,22 @@
#define MAVLINK_MSG_ID_WAYPOINT_CURRENT 42
typedef struct __mavlink_waypoint_current_t
typedef struct __mavlink_waypoint_current_t
{
uint16_t seq; ///< Sequence
uint16_t seq; ///< Sequence
} mavlink_waypoint_current_t;
#define MAVLINK_MSG_ID_WAYPOINT_CURRENT_LEN 2
#define MAVLINK_MSG_ID_42_LEN 2
#define MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT { \
"WAYPOINT_CURRENT", \
1, \
{ { "seq", MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_waypoint_current_t, seq) }, \
} \
}
/**
@ -19,18 +29,27 @@ typedef struct __mavlink_waypoint_current_t
* @param seq Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t seq)
static inline uint16_t mavlink_msg_waypoint_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t seq)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint16_t(buf, 0, seq);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_waypoint_current_t packet;
packet.seq = seq;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CURRENT;
i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 2);
}
/**
* @brief Pack a waypoint_current message
* @brief Pack a waypoint_current 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
@ -38,14 +57,24 @@ static inline uint16_t mavlink_msg_waypoint_current_pack(uint8_t system_id, uint
* @param seq Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_current_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t seq)
static inline uint16_t mavlink_msg_waypoint_current_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t seq)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint16_t(buf, 0, seq);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_waypoint_current_t packet;
packet.seq = seq;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CURRENT;
i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2);
}
/**
@ -71,14 +100,24 @@ static inline uint16_t mavlink_msg_waypoint_current_encode(uint8_t system_id, ui
static inline void mavlink_msg_waypoint_current_send(mavlink_channel_t chan, uint16_t seq)
{
mavlink_message_t msg;
mavlink_msg_waypoint_current_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seq);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint16_t(buf, 0, seq);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_CURRENT, buf, 2);
#else
mavlink_waypoint_current_t packet;
packet.seq = seq;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_CURRENT, (const char *)&packet, 2);
#endif
}
#endif
// MESSAGE WAYPOINT_CURRENT UNPACKING
/**
* @brief Get field seq from waypoint_current message
*
@ -86,10 +125,7 @@ static inline void mavlink_msg_waypoint_current_send(mavlink_channel_t chan, uin
*/
static inline uint16_t mavlink_msg_waypoint_current_get_seq(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload)[0];
r.b[0] = (msg->payload)[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
@ -100,5 +136,9 @@ static inline uint16_t mavlink_msg_waypoint_current_get_seq(const mavlink_messag
*/
static inline void mavlink_msg_waypoint_current_decode(const mavlink_message_t* msg, mavlink_waypoint_current_t* waypoint_current)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint_current->seq = mavlink_msg_waypoint_current_get_seq(msg);
#else
memcpy(waypoint_current, _MAV_PAYLOAD(msg), 2);
#endif
}

86
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_reached.h
View File

@ -2,12 +2,22 @@
#define MAVLINK_MSG_ID_WAYPOINT_REACHED 46
typedef struct __mavlink_waypoint_reached_t
typedef struct __mavlink_waypoint_reached_t
{
uint16_t seq; ///< Sequence
uint16_t seq; ///< Sequence
} mavlink_waypoint_reached_t;
#define MAVLINK_MSG_ID_WAYPOINT_REACHED_LEN 2
#define MAVLINK_MSG_ID_46_LEN 2
#define MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED { \
"WAYPOINT_REACHED", \
1, \
{ { "seq", MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_waypoint_reached_t, seq) }, \
} \
}
/**
@ -19,18 +29,27 @@ typedef struct __mavlink_waypoint_reached_t
* @param seq Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_reached_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t seq)
static inline uint16_t mavlink_msg_waypoint_reached_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t seq)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint16_t(buf, 0, seq);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_waypoint_reached_t packet;
packet.seq = seq;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REACHED;
i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 2);
}
/**
* @brief Pack a waypoint_reached message
* @brief Pack a waypoint_reached 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
@ -38,14 +57,24 @@ static inline uint16_t mavlink_msg_waypoint_reached_pack(uint8_t system_id, uint
* @param seq Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_reached_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t seq)
static inline uint16_t mavlink_msg_waypoint_reached_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t seq)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint16_t(buf, 0, seq);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_waypoint_reached_t packet;
packet.seq = seq;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REACHED;
i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2);
}
/**
@ -71,14 +100,24 @@ static inline uint16_t mavlink_msg_waypoint_reached_encode(uint8_t system_id, ui
static inline void mavlink_msg_waypoint_reached_send(mavlink_channel_t chan, uint16_t seq)
{
mavlink_message_t msg;
mavlink_msg_waypoint_reached_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seq);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint16_t(buf, 0, seq);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REACHED, buf, 2);
#else
mavlink_waypoint_reached_t packet;
packet.seq = seq;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REACHED, (const char *)&packet, 2);
#endif
}
#endif
// MESSAGE WAYPOINT_REACHED UNPACKING
/**
* @brief Get field seq from waypoint_reached message
*
@ -86,10 +125,7 @@ static inline void mavlink_msg_waypoint_reached_send(mavlink_channel_t chan, uin
*/
static inline uint16_t mavlink_msg_waypoint_reached_get_seq(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload)[0];
r.b[0] = (msg->payload)[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
@ -100,5 +136,9 @@ static inline uint16_t mavlink_msg_waypoint_reached_get_seq(const mavlink_messag
*/
static inline void mavlink_msg_waypoint_reached_decode(const mavlink_message_t* msg, mavlink_waypoint_reached_t* waypoint_reached)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint_reached->seq = mavlink_msg_waypoint_reached_get_seq(msg);
#else
memcpy(waypoint_reached, _MAV_PAYLOAD(msg), 2);
#endif
}

112
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_request.h
View File

@ -2,14 +2,26 @@
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST 40
typedef struct __mavlink_waypoint_request_t
typedef struct __mavlink_waypoint_request_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint16_t seq; ///< Sequence
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint16_t seq; ///< Sequence
} mavlink_waypoint_request_t;
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LEN 4
#define MAVLINK_MSG_ID_40_LEN 4
#define MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST { \
"WAYPOINT_REQUEST", \
3, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_request_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_request_t, target_component) }, \
{ "seq", MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_waypoint_request_t, seq) }, \
} \
}
/**
@ -23,20 +35,31 @@ typedef struct __mavlink_waypoint_request_t
* @param seq Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_request_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t seq)
static inline uint16_t mavlink_msg_waypoint_request_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint16_t seq)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint16_t(buf, 2, seq);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_waypoint_request_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.seq = seq;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 4);
}
/**
* @brief Pack a waypoint_request message
* @brief Pack a waypoint_request 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
@ -46,16 +69,28 @@ static inline uint16_t mavlink_msg_waypoint_request_pack(uint8_t system_id, uint
* @param seq Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_request_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, uint16_t seq)
static inline uint16_t mavlink_msg_waypoint_request_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,uint16_t seq)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint16_t(buf, 2, seq);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_waypoint_request_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.seq = seq;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4);
}
/**
@ -83,14 +118,28 @@ static inline uint16_t mavlink_msg_waypoint_request_encode(uint8_t system_id, ui
static inline void mavlink_msg_waypoint_request_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq)
{
mavlink_message_t msg;
mavlink_msg_waypoint_request_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, seq);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint16_t(buf, 2, seq);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REQUEST, buf, 4);
#else
mavlink_waypoint_request_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.seq = seq;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REQUEST, (const char *)&packet, 4);
#endif
}
#endif
// MESSAGE WAYPOINT_REQUEST UNPACKING
/**
* @brief Get field target_system from waypoint_request message
*
@ -98,7 +147,7 @@ static inline void mavlink_msg_waypoint_request_send(mavlink_channel_t chan, uin
*/
static inline uint8_t mavlink_msg_waypoint_request_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -108,7 +157,7 @@ static inline uint8_t mavlink_msg_waypoint_request_get_target_system(const mavli
*/
static inline uint8_t mavlink_msg_waypoint_request_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -118,10 +167,7 @@ static inline uint8_t mavlink_msg_waypoint_request_get_target_component(const ma
*/
static inline uint16_t mavlink_msg_waypoint_request_get_seq(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 2);
}
/**
@ -132,7 +178,11 @@ static inline uint16_t mavlink_msg_waypoint_request_get_seq(const mavlink_messag
*/
static inline void mavlink_msg_waypoint_request_decode(const mavlink_message_t* msg, mavlink_waypoint_request_t* waypoint_request)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint_request->target_system = mavlink_msg_waypoint_request_get_target_system(msg);
waypoint_request->target_component = mavlink_msg_waypoint_request_get_target_component(msg);
waypoint_request->seq = mavlink_msg_waypoint_request_get_seq(msg);
#else
memcpy(waypoint_request, _MAV_PAYLOAD(msg), 4);
#endif
}

96
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_request_list.h
View File

@ -2,13 +2,24 @@
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST 43
typedef struct __mavlink_waypoint_request_list_t
typedef struct __mavlink_waypoint_request_list_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
} mavlink_waypoint_request_list_t;
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST_LEN 2
#define MAVLINK_MSG_ID_43_LEN 2
#define MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST { \
"WAYPOINT_REQUEST_LIST", \
2, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_request_list_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_request_list_t, target_component) }, \
} \
}
/**
@ -21,19 +32,29 @@ typedef struct __mavlink_waypoint_request_list_t
* @param target_component Component ID
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component)
static inline uint16_t mavlink_msg_waypoint_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_waypoint_request_list_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 2);
}
/**
* @brief Pack a waypoint_request_list message
* @brief Pack a waypoint_request_list 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
@ -42,15 +63,26 @@ static inline uint16_t mavlink_msg_waypoint_request_list_pack(uint8_t system_id,
* @param target_component Component ID
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_request_list_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)
static inline uint16_t mavlink_msg_waypoint_request_list_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)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_waypoint_request_list_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2);
}
/**
@ -77,14 +109,26 @@ static inline uint16_t mavlink_msg_waypoint_request_list_encode(uint8_t system_i
static inline void mavlink_msg_waypoint_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
{
mavlink_message_t msg;
mavlink_msg_waypoint_request_list_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, buf, 2);
#else
mavlink_waypoint_request_list_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, (const char *)&packet, 2);
#endif
}
#endif
// MESSAGE WAYPOINT_REQUEST_LIST UNPACKING
/**
* @brief Get field target_system from waypoint_request_list message
*
@ -92,7 +136,7 @@ static inline void mavlink_msg_waypoint_request_list_send(mavlink_channel_t chan
*/
static inline uint8_t mavlink_msg_waypoint_request_list_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -102,7 +146,7 @@ static inline uint8_t mavlink_msg_waypoint_request_list_get_target_system(const
*/
static inline uint8_t mavlink_msg_waypoint_request_list_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -113,6 +157,10 @@ static inline uint8_t mavlink_msg_waypoint_request_list_get_target_component(con
*/
static inline void mavlink_msg_waypoint_request_list_decode(const mavlink_message_t* msg, mavlink_waypoint_request_list_t* waypoint_request_list)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint_request_list->target_system = mavlink_msg_waypoint_request_list_get_target_system(msg);
waypoint_request_list->target_component = mavlink_msg_waypoint_request_list_get_target_component(msg);
#else
memcpy(waypoint_request_list, _MAV_PAYLOAD(msg), 2);
#endif
}

112
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_set_current.h
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@ -2,14 +2,26 @@
#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT 41
typedef struct __mavlink_waypoint_set_current_t
typedef struct __mavlink_waypoint_set_current_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint16_t seq; ///< Sequence
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint16_t seq; ///< Sequence
} mavlink_waypoint_set_current_t;
#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT_LEN 4
#define MAVLINK_MSG_ID_41_LEN 4
#define MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT { \
"WAYPOINT_SET_CURRENT", \
3, \
{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_set_current_t, target_system) }, \
{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_set_current_t, target_component) }, \
{ "seq", MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_waypoint_set_current_t, seq) }, \
} \
}
/**
@ -23,20 +35,31 @@ typedef struct __mavlink_waypoint_set_current_t
* @param seq Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_set_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t seq)
static inline uint16_t mavlink_msg_waypoint_set_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint16_t seq)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint16_t(buf, 2, seq);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_waypoint_set_current_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.seq = seq;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence
return mavlink_finalize_message(msg, system_id, component_id, i);
return mavlink_finalize_message(msg, system_id, component_id, 4);
}
/**
* @brief Pack a waypoint_set_current message
* @brief Pack a waypoint_set_current 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
@ -46,16 +69,28 @@ static inline uint16_t mavlink_msg_waypoint_set_current_pack(uint8_t system_id,
* @param seq Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_set_current_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, uint16_t seq)
static inline uint16_t mavlink_msg_waypoint_set_current_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,uint16_t seq)
{
uint16_t i = 0;
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint16_t(buf, 2, seq);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_waypoint_set_current_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.seq = seq;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4);
}
/**
@ -83,14 +118,28 @@ static inline uint16_t mavlink_msg_waypoint_set_current_encode(uint8_t system_id
static inline void mavlink_msg_waypoint_set_current_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq)
{
mavlink_message_t msg;
mavlink_msg_waypoint_set_current_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, seq);
mavlink_send_uart(chan, &msg);
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint16_t(buf, 2, seq);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT, buf, 4);
#else
mavlink_waypoint_set_current_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.seq = seq;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT, (const char *)&packet, 4);
#endif
}
#endif
// MESSAGE WAYPOINT_SET_CURRENT UNPACKING
/**
* @brief Get field target_system from waypoint_set_current message
*
@ -98,7 +147,7 @@ static inline void mavlink_msg_waypoint_set_current_send(mavlink_channel_t chan,
*/
static inline uint8_t mavlink_msg_waypoint_set_current_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
@ -108,7 +157,7 @@ static inline uint8_t mavlink_msg_waypoint_set_current_get_target_system(const m
*/
static inline uint8_t mavlink_msg_waypoint_set_current_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
@ -118,10 +167,7 @@ static inline uint8_t mavlink_msg_waypoint_set_current_get_target_component(cons
*/
static inline uint16_t mavlink_msg_waypoint_set_current_get_seq(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
return (uint16_t)r.s;
return _MAV_RETURN_uint16_t(msg, 2);
}
/**
@ -132,7 +178,11 @@ static inline uint16_t mavlink_msg_waypoint_set_current_get_seq(const mavlink_me
*/
static inline void mavlink_msg_waypoint_set_current_decode(const mavlink_message_t* msg, mavlink_waypoint_set_current_t* waypoint_set_current)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint_set_current->target_system = mavlink_msg_waypoint_set_current_get_target_system(msg);
waypoint_set_current->target_component = mavlink_msg_waypoint_set_current_get_target_component(msg);
waypoint_set_current->seq = mavlink_msg_waypoint_set_current_get_seq(msg);
#else
memcpy(waypoint_set_current, _MAV_PAYLOAD(msg), 4);
#endif
}

3700
libraries/GCS_MAVLink/include/common/testsuite.h Normal file
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13
libraries/GCS_MAVLink/include/common/version.h Normal file
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@ -0,0 +1,13 @@
/** @file
* @brief MAVLink comm protocol built from common.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Aug 31 15:10:04 2011"
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
#include "mavlink.h"
#endif // MAVLINK_VERSION_H

482
libraries/GCS_MAVLink/include/mavlink_helpers.h Normal file
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@ -0,0 +1,482 @@
#ifndef _MAVLINK_HELPERS_H_
#define _MAVLINK_HELPERS_H_
#include "string.h"
#include "checksum.h"
#include "mavlink_types.h"
#ifndef MAVLINK_HELPER
#define MAVLINK_HELPER
#endif
/*
internal function to give access to the channel status for each channel
*/
MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
{
static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
return &m_mavlink_status[chan];
}
/**
* @brief Finalize a MAVLink message with channel assignment
*
* This function calculates the checksum and sets length and aircraft id correctly.
* It assumes that the message id and the payload are already correctly set. This function
* can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack
* instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead.
*
* @param msg Message to finalize
* @param system_id Id of the sending (this) system, 1-127
* @param length Message length
*/
#if MAVLINK_CRC_EXTRA
MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
uint8_t chan, uint16_t length, uint8_t crc_extra)
#else
MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
uint8_t chan, uint16_t length)
#endif
{
// This code part is the same for all messages;
uint16_t checksum;
msg->magic = MAVLINK_STX;
msg->len = length;
msg->sysid = system_id;
msg->compid = component_id;
// One sequence number per component
msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
checksum = crc_calculate((uint8_t*)&msg->len, length + MAVLINK_CORE_HEADER_LEN);
#if MAVLINK_CRC_EXTRA
crc_accumulate(crc_extra, &checksum);
#endif
mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF);
mavlink_ck_b(msg) = (uint8_t)(checksum >> 8);
return length + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
/**
* @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel
*/
#if MAVLINK_CRC_EXTRA
MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
uint16_t length, uint8_t crc_extra)
{
return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length, crc_extra);
}
#else
MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
uint16_t length)
{
return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length);
}
#endif
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
/**
* @brief Finalize a MAVLink message with channel assignment and send
*/
#if MAVLINK_CRC_EXTRA
MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet,
uint8_t length, uint8_t crc_extra)
#else
MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length)
#endif
{
uint16_t checksum;
uint8_t buf[MAVLINK_NUM_HEADER_BYTES];
uint8_t ck[2];
mavlink_status_t *status = mavlink_get_channel_status(chan);
buf[0] = MAVLINK_STX;
buf[1] = length;
buf[2] = status->current_tx_seq;
buf[3] = mavlink_system.sysid;
buf[4] = mavlink_system.compid;
buf[5] = msgid;
status->current_tx_seq++;
checksum = crc_calculate((uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN);
crc_accumulate_buffer(&checksum, packet, length);
#if MAVLINK_CRC_EXTRA
crc_accumulate(crc_extra, &checksum);
#endif
ck[0] = (uint8_t)(checksum & 0xFF);
ck[1] = (uint8_t)(checksum >> 8);
MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
_mavlink_send_uart(chan, (const char *)buf, MAVLINK_NUM_HEADER_BYTES);
_mavlink_send_uart(chan, packet, length);
_mavlink_send_uart(chan, (const char *)ck, 2);
MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
}
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Pack a message to send it over a serial byte stream
*/
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
{
memcpy(buffer, (uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
}
union __mavlink_bitfield {
uint8_t uint8;
int8_t int8;
uint16_t uint16;
int16_t int16;
uint32_t uint32;
int32_t int32;
};
MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg)
{
crc_init(&msg->checksum);
}
MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
{
crc_accumulate(c, &msg->checksum);
}
/**
* This is a convenience function which handles the complete MAVLink parsing.
* the function will parse one byte at a time and return the complete packet once
* it could be successfully decoded. Checksum and other failures will be silently
* ignored.
*
* @param chan ID of the current channel. This allows to parse different channels with this function.
* a channel is not a physical message channel like a serial port, but a logic partition of
* the communication streams in this case. COMM_NB is the limit for the number of channels
* on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
* @param c The char to barse
*
* @param returnMsg NULL if no message could be decoded, the message data else
* @return 0 if no message could be decoded, 1 else
*
* A typical use scenario of this function call is:
*
* @code
* #include <inttypes.h> // For fixed-width uint8_t type
*
* mavlink_message_t msg;
* int chan = 0;
*
*
* while(serial.bytesAvailable > 0)
* {
* uint8_t byte = serial.getNextByte();
* if (mavlink_parse_char(chan, byte, &msg))
* {
* printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
* }
* }
*
*
* @endcode
*/
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
{
static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS];
/*
default message crc function. You can override this per-system to
put this data in a different memory segment
*/
#if MAVLINK_CRC_EXTRA
#ifndef MAVLINK_MESSAGE_CRC
static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
#define MAVLINK_MESSAGE_CRC(msgid) mavlink_message_crcs[msgid]
#endif
#endif
mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message
mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
int bufferIndex = 0;
status->msg_received = 0;
switch (status->parse_state)
{
case MAVLINK_PARSE_STATE_UNINIT:
case MAVLINK_PARSE_STATE_IDLE:
if (c == MAVLINK_STX)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0;
mavlink_start_checksum(rxmsg);
}
break;
case MAVLINK_PARSE_STATE_GOT_STX:
if (status->msg_received)
{
status->buffer_overrun++;
status->parse_error++;
status->msg_received = 0;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
}
else
{
// NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2
rxmsg->len = c;
status->packet_idx = 0;
mavlink_update_checksum(rxmsg, c);
status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH;
}
break;
case MAVLINK_PARSE_STATE_GOT_LENGTH:
rxmsg->seq = c;
mavlink_update_checksum(rxmsg, c);
status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ;
break;
case MAVLINK_PARSE_STATE_GOT_SEQ:
rxmsg->sysid = c;
mavlink_update_checksum(rxmsg, c);
status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID;
break;
case MAVLINK_PARSE_STATE_GOT_SYSID:
rxmsg->compid = c;
mavlink_update_checksum(rxmsg, c);
status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID;
break;
case MAVLINK_PARSE_STATE_GOT_COMPID:
rxmsg->msgid = c;
mavlink_update_checksum(rxmsg, c);
if (rxmsg->len == 0)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
}
else
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID;
}
break;
case MAVLINK_PARSE_STATE_GOT_MSGID:
_MAV_PAYLOAD(rxmsg)[status->packet_idx++] = (char)c;
mavlink_update_checksum(rxmsg, c);
if (status->packet_idx == rxmsg->len)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
}
break;
case MAVLINK_PARSE_STATE_GOT_PAYLOAD:
#if MAVLINK_CRC_EXTRA
mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid));
#endif
if (c != (rxmsg->checksum & 0xFF)) {
// Check first checksum byte
status->parse_error++;
status->msg_received = 0;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
if (c == MAVLINK_STX)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0;
mavlink_start_checksum(rxmsg);
}
}
else
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
}
break;
case MAVLINK_PARSE_STATE_GOT_CRC1:
if (c != (rxmsg->checksum >> 8)) {
// Check second checksum byte
status->parse_error++;
status->msg_received = 0;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
if (c == MAVLINK_STX)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0;
mavlink_start_checksum(rxmsg);
}
}
else
{
// Successfully got message
status->msg_received = 1;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
}
break;
}
bufferIndex++;
// If a message has been sucessfully decoded, check index
if (status->msg_received == 1)
{
//while(status->current_seq != rxmsg->seq)
//{
// status->packet_rx_drop_count++;
// status->current_seq++;
//}
status->current_rx_seq = rxmsg->seq;
// Initial condition: If no packet has been received so far, drop count is undefined
if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
// Count this packet as received
status->packet_rx_success_count++;
}
r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
r_mavlink_status->packet_rx_drop_count = status->parse_error;
status->parse_error = 0;
return status->msg_received;
}
/**
* @brief Put a bitfield of length 1-32 bit into the buffer
*
* @param b the value to add, will be encoded in the bitfield
* @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc.
* @param packet_index the position in the packet (the index of the first byte to use)
* @param bit_index the position in the byte (the index of the first bit to use)
* @param buffer packet buffer to write into
* @return new position of the last used byte in the buffer
*/
MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer)
{
uint16_t bits_remain = bits;
// Transform number into network order
int32_t v;
uint8_t i_bit_index, i_byte_index, curr_bits_n;
#if MAVLINK_NEED_BYTE_SWAP
union {
int32_t i;
uint8_t b[4];
} bin, bout;
bin.i = b;
bout.b[0] = bin.b[3];
bout.b[1] = bin.b[2];
bout.b[2] = bin.b[1];
bout.b[3] = bin.b[0];
v = bout.i;
#else
v = b;
#endif
// buffer in
// 01100000 01000000 00000000 11110001
// buffer out
// 11110001 00000000 01000000 01100000
// Existing partly filled byte (four free slots)
// 0111xxxx
// Mask n free bits
// 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1
// = ((uint32_t)(1 << n)) - 1; // = 2^n - 1
// Shift n bits into the right position
// out = in >> n;
// Mask and shift bytes
i_bit_index = bit_index;
i_byte_index = packet_index;
if (bit_index > 0)
{
// If bits were available at start, they were available
// in the byte before the current index
i_byte_index--;
}
// While bits have not been packed yet
while (bits_remain > 0)
{
// Bits still have to be packed
// there can be more than 8 bits, so
// we might have to pack them into more than one byte
// First pack everything we can into the current 'open' byte
//curr_bits_n = bits_remain << 3; // Equals bits_remain mod 8
//FIXME
if (bits_remain <= (uint8_t)(8 - i_bit_index))
{
// Enough space
curr_bits_n = bits_remain;
}
else
{
curr_bits_n = (8 - i_bit_index);
}
// Pack these n bits into the current byte
// Mask out whatever was at that position with ones (xxx11111)
buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n));
// Put content to this position, by masking out the non-used part
buffer[i_byte_index] |= ((0x00 << curr_bits_n) & v);
// Increment the bit index
i_bit_index += curr_bits_n;
// Now proceed to the next byte, if necessary
bits_remain -= curr_bits_n;
if (bits_remain > 0)
{
// Offer another 8 bits / one byte
i_byte_index++;
i_bit_index = 0;
}
}
*r_bit_index = i_bit_index;
// If a partly filled byte is present, mark this as consumed
if (i_bit_index != 7) i_byte_index++;
return i_byte_index - packet_index;
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
// To make MAVLink work on your MCU, define comm_send_ch() if you wish
// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a
// whole packet at a time
/*
#include "mavlink_types.h"
void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
{
if (chan == MAVLINK_COMM_0)
{
uart0_transmit(ch);
}
if (chan == MAVLINK_COMM_1)
{
uart1_transmit(ch);
}
}
*/
MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len)
{
#ifdef MAVLINK_SEND_UART_BYTES
/* this is the more efficient approach, if the platform
defines it */
MAVLINK_SEND_UART_BYTES(chan, (uint8_t *)buf, len);
#else
/* fallback to one byte at a time */
uint16_t i;
for (i = 0; i < len; i++) {
comm_send_ch(chan, (uint8_t)buf[i]);
}
#endif
}
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
#endif /* _MAVLINK_HELPERS_H_ */

125
libraries/GCS_MAVLink/include/mavlink_types.h
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@ -9,12 +9,12 @@ enum MAV_CLASS
MAV_CLASS_PIXHAWK = 1, ///< PIXHAWK autopilot, http://pixhawk.ethz.ch
MAV_CLASS_SLUGS = 2, ///< SLUGS autopilot, http://slugsuav.soe.ucsc.edu
MAV_CLASS_ARDUPILOTMEGA = 3, ///< ArduPilotMega / ArduCopter, http://diydrones.com
MAV_CLASS_OPENPILOT = 4, ///< OpenPilot, http://openpilot.org
MAV_CLASS_GENERIC_MISSION_WAYPOINTS_ONLY = 5, ///< Generic autopilot only supporting simple waypoints
MAV_CLASS_GENERIC_MISSION_NAVIGATION_ONLY = 6, ///< Generic autopilot supporting waypoints and other simple navigation commands
MAV_CLASS_GENERIC_MISSION_FULL = 7, ///< Generic autopilot supporting the full mission command set
MAV_CLASS_NONE = 8, ///< No valid autopilot
MAV_CLASS_NB ///< Number of autopilot classes
MAV_CLASS_OPENPILOT = 4, ///< OpenPilot, http://openpilot.org
MAV_CLASS_GENERIC_MISSION_WAYPOINTS_ONLY = 5, ///< Generic autopilot only supporting simple waypoints
MAV_CLASS_GENERIC_MISSION_NAVIGATION_ONLY = 6, ///< Generic autopilot supporting waypoints and other simple navigation commands
MAV_CLASS_GENERIC_MISSION_FULL = 7, ///< Generic autopilot supporting the full mission command set
MAV_CLASS_NONE = 8, ///< No valid autopilot
MAV_CLASS_NB ///< Number of autopilot classes
};
enum MAV_ACTION
@ -60,8 +60,8 @@ enum MAV_ACTION
MAV_ACTION_CHANGE_MODE = 38,
MAV_ACTION_LOITER_MAX_TURNS = 39,
MAV_ACTION_LOITER_MAX_TIME = 40,
MAV_ACTION_START_HILSIM = 41,
MAV_ACTION_STOP_HILSIM = 42,
MAV_ACTION_START_HILSIM = 41,
MAV_ACTION_STOP_HILSIM = 42,
MAV_ACTION_NB ///< Number of MAV actions
};
@ -103,7 +103,7 @@ enum MAV_NAV
MAV_NAV_LANDING,
MAV_NAV_LOST,
MAV_NAV_LOITER,
MAV_NAV_FREE_DRIFT
MAV_NAV_FREE_DRIFT
};
enum MAV_TYPE
@ -115,11 +115,11 @@ enum MAV_TYPE
MAV_HELICOPTER = 4,
MAV_GROUND = 5,
OCU = 6,
MAV_AIRSHIP = 7,
MAV_FREE_BALLOON = 8,
MAV_ROCKET = 9,
UGV_GROUND_ROVER = 10,
UGV_SURFACE_SHIP = 11
MAV_AIRSHIP = 7,
MAV_FREE_BALLOON = 8,
MAV_ROCKET = 9,
UGV_GROUND_ROVER = 10,
UGV_SURFACE_SHIP = 11
};
enum MAV_AUTOPILOT_TYPE
@ -128,7 +128,7 @@ enum MAV_AUTOPILOT_TYPE
MAV_AUTOPILOT_PIXHAWK = 1,
MAV_AUTOPILOT_SLUGS = 2,
MAV_AUTOPILOT_ARDUPILOTMEGA = 3,
MAV_AUTOPILOT_NONE = 4
MAV_AUTOPILOT_NONE = 4
};
enum MAV_COMPONENT
@ -141,8 +141,8 @@ enum MAV_COMPONENT
MAV_COMP_ID_MAPPER,
MAV_COMP_ID_CAMERA,
MAV_COMP_ID_IMU = 200,
MAV_COMP_ID_IMU_2 = 201,
MAV_COMP_ID_IMU_3 = 202,
MAV_COMP_ID_IMU_2 = 201,
MAV_COMP_ID_IMU_3 = 202,
MAV_COMP_ID_UDP_BRIDGE = 240,
MAV_COMP_ID_UART_BRIDGE = 241,
MAV_COMP_ID_SYSTEM_CONTROL = 250
@ -153,33 +153,37 @@ enum MAV_FRAME
MAV_FRAME_GLOBAL = 0,
MAV_FRAME_LOCAL = 1,
MAV_FRAME_MISSION = 2,
MAV_FRAME_GLOBAL_RELATIVE_ALT = 3,
MAV_FRAME_LOCAL_ENU = 4
MAV_FRAME_GLOBAL_RELATIVE_ALT = 3,
MAV_FRAME_LOCAL_ENU = 4
};
enum MAVLINK_DATA_STREAM_TYPE
{
MAVLINK_DATA_STREAM_IMG_JPEG,
MAVLINK_DATA_STREAM_IMG_BMP,
MAVLINK_DATA_STREAM_IMG_RAW8U,
MAVLINK_DATA_STREAM_IMG_RAW32U,
MAVLINK_DATA_STREAM_IMG_PGM,
MAVLINK_DATA_STREAM_IMG_PNG
MAVLINK_DATA_STREAM_IMG_BMP,
MAVLINK_DATA_STREAM_IMG_RAW8U,
MAVLINK_DATA_STREAM_IMG_RAW32U,
MAVLINK_DATA_STREAM_IMG_PGM,
MAVLINK_DATA_STREAM_IMG_PNG
};
#define MAVLINK_STX 0x55 ///< Packet start sign
#define MAVLINK_STX_LEN 1 ///< Length of start sign
#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + MAVLINK_STX_LEN) ///< Length of all header bytes, including core and checksum
#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
#define MAVLINK_NUM_CHECKSUM_BYTES 2
#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
#define MAVLINK_NUM_NON_STX_PAYLOAD_BYTES (MAVLINK_NUM_NON_PAYLOAD_BYTES - MAVLINK_STX_LEN)
#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
//#define MAVLINK_MAX_DATA_LEN MAVLINK_MAX_PACKET_LEN - MAVLINK_STX_LEN
typedef struct param_union {
struct {
float param_float;
int32_t param_int32;
uint32_t param_uint32;
};
uint8_t type;
} mavlink_param_union_t;
typedef struct __mavlink_system {
uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function
@ -187,20 +191,58 @@ typedef struct __mavlink_system {
uint8_t type; ///< Unused, can be used by user to store the system's type
uint8_t state; ///< Unused, can be used by user to store the system's state
uint8_t mode; ///< Unused, can be used by user to store the system's mode
uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode
uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode
} mavlink_system_t;
typedef struct __mavlink_message {
uint8_t len; ///< Length of payload
uint8_t seq; ///< Sequence of packet
uint8_t sysid; ///< ID of message sender system/aircraft
uint8_t compid; ///< ID of the message sender component
uint8_t msgid; ///< ID of message in payload
uint8_t payload[MAVLINK_MAX_PAYLOAD_LEN]; ///< Payload data, ALIGNMENT IMPORTANT ON MCU
uint8_t ck_a; ///< Checksum high byte
uint8_t ck_b; ///< Checksum low byte
uint16_t checksum; /// sent at end of packet
uint8_t magic; ///< protocol magic marker
uint8_t len; ///< Length of payload
uint8_t seq; ///< Sequence of packet
uint8_t sysid; ///< ID of message sender system/aircraft
uint8_t compid; ///< ID of the message sender component
uint8_t msgid; ///< ID of message in payload
uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
} mavlink_message_t;
typedef enum {
MAVLINK_TYPE_CHAR = 0,
MAVLINK_TYPE_UINT8_T = 1,
MAVLINK_TYPE_INT8_T = 2,
MAVLINK_TYPE_UINT16_T = 3,
MAVLINK_TYPE_INT16_T = 4,
MAVLINK_TYPE_UINT32_T = 5,
MAVLINK_TYPE_INT32_T = 6,
MAVLINK_TYPE_UINT64_T = 7,
MAVLINK_TYPE_INT64_T = 8,
MAVLINK_TYPE_FLOAT = 9,
MAVLINK_TYPE_DOUBLE = 10
} mavlink_message_type_t;
#define MAVLINK_MAX_FIELDS 64
typedef struct __mavlink_field_info {
const char *name; // name of this field
mavlink_message_type_t type; // type of this field
unsigned array_length; // if non-zero, field is an array
unsigned wire_offset; // offset of each field in the payload
unsigned structure_offset; // offset in a C structure
} mavlink_field_info_t;
// note that in this structure the order of fields is the order
// in the XML file, not necessary the wire order
typedef struct __mavlink_message_info {
const char *name; // name of the message
unsigned num_fields; // how many fields in this message
const mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
} mavlink_message_info_t;
#define _MAV_PAYLOAD(msg) ((char *)(&(msg)->payload64[0]))
// checksum is immediately after the payload bytes
#define mavlink_ck_a(msg) *(msg->len + (uint8_t *)_MAV_PAYLOAD(msg))
#define mavlink_ck_b(msg) *((msg->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD(msg))
typedef enum {
MAVLINK_COMM_0,
MAVLINK_COMM_1,
@ -235,8 +277,6 @@ typedef enum {
} mavlink_parse_state_t; ///< The state machine for the comm parser
typedef struct __mavlink_status {
uint8_t ck_a; ///< Checksum byte 1
uint8_t ck_b; ///< Checksum byte 2
uint8_t msg_received; ///< Number of received messages
uint8_t buffer_overrun; ///< Number of buffer overruns
uint8_t parse_error; ///< Number of parse errors
@ -248,4 +288,7 @@ typedef struct __mavlink_status {
uint16_t packet_rx_drop_count; ///< Number of packet drops
} mavlink_status_t;
#define MAVLINK_BIG_ENDIAN 0
#define MAVLINK_LITTLE_ENDIAN 1
#endif /* MAVLINK_TYPES_H_ */

1232
libraries/GCS_MAVLink/include/protocol.h
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