// MESSAGE WAYPOINT PACKING #define MAVLINK_MSG_ID_WAYPOINT 39 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 action; ///< The scheduled action for the waypoint. see MAV_ACTION in mavlink_types.h float orbit; ///< Orbit to circle around the waypoint, in meters. Set to 0 to fly straight through the waypoint uint8_t orbit_direction; ///< Direction of the orbit circling: 0: clockwise, 1: counter-clockwise float param1; ///< For waypoints of type 0 and 1: Radius in which the waypoint is accepted as reached, in meters float param2; ///< For waypoints of type 0 and 1: Time that the MAV should stay inside the orbit before advancing, in milliseconds uint8_t current; ///< false:0, true:1 float x; ///< local: x position, global: longitude float y; ///< y position: global: latitude float z; ///< z position: global: altitude float yaw; ///< yaw orientation in radians, 0 = NORTH uint8_t autocontinue; ///< autocontinue to next wp } mavlink_waypoint_t; /** * @brief Pack a waypoint message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * * @param target_system System ID * @param target_component Component ID * @param seq Sequence * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h * @param action The scheduled action for the waypoint. see MAV_ACTION in mavlink_types.h * @param orbit Orbit to circle around the waypoint, in meters. Set to 0 to fly straight through the waypoint * @param orbit_direction Direction of the orbit circling: 0: clockwise, 1: counter-clockwise * @param param1 For waypoints of type 0 and 1: Radius in which the waypoint is accepted as reached, in meters * @param param2 For waypoints of type 0 and 1: Time that the MAV should stay inside the orbit before advancing, in milliseconds * @param current false:0, true:1 * @param x local: x position, global: longitude * @param y y position: global: latitude * @param z z position: global: altitude * @param yaw yaw orientation in radians, 0 = NORTH * @param autocontinue autocontinue to next wp * @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 action, float orbit, uint8_t orbit_direction, float param1, float param2, uint8_t current, float x, float y, float z, float yaw, uint8_t autocontinue) { uint16_t i = 0; 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(action, i, msg->payload); // The scheduled action for the waypoint. see MAV_ACTION in mavlink_types.h i += put_float_by_index(orbit, i, msg->payload); // Orbit to circle around the waypoint, in meters. Set to 0 to fly straight through the waypoint i += put_uint8_t_by_index(orbit_direction, i, msg->payload); // Direction of the orbit circling: 0: clockwise, 1: counter-clockwise i += put_float_by_index(param1, i, msg->payload); // For waypoints of type 0 and 1: Radius in which the waypoint is accepted as reached, in meters i += put_float_by_index(param2, i, msg->payload); // For waypoints of type 0 and 1: Time that the MAV should stay inside the orbit before advancing, in milliseconds i += put_uint8_t_by_index(current, i, msg->payload); // false:0, true:1 i += put_float_by_index(x, i, msg->payload); // local: x position, global: longitude i += put_float_by_index(y, i, msg->payload); // y position: global: latitude i += put_float_by_index(z, i, msg->payload); // z position: global: altitude i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH i += put_uint8_t_by_index(autocontinue, i, msg->payload); // autocontinue to next wp return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a waypoint message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message was sent over * @param msg The MAVLink message to compress the data into * @param target_system System ID * @param target_component Component ID * @param seq Sequence * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h * @param action The scheduled action for the waypoint. see MAV_ACTION in mavlink_types.h * @param orbit Orbit to circle around the waypoint, in meters. Set to 0 to fly straight through the waypoint * @param orbit_direction Direction of the orbit circling: 0: clockwise, 1: counter-clockwise * @param param1 For waypoints of type 0 and 1: Radius in which the waypoint is accepted as reached, in meters * @param param2 For waypoints of type 0 and 1: Time that the MAV should stay inside the orbit before advancing, in milliseconds * @param current false:0, true:1 * @param x local: x position, global: longitude * @param y y position: global: latitude * @param z z position: global: altitude * @param yaw yaw orientation in radians, 0 = NORTH * @param autocontinue autocontinue to next wp * @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 action, float orbit, uint8_t orbit_direction, float param1, float param2, uint8_t current, float x, float y, float z, float yaw, uint8_t autocontinue) { uint16_t i = 0; 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(action, i, msg->payload); // The scheduled action for the waypoint. see MAV_ACTION in mavlink_types.h i += put_float_by_index(orbit, i, msg->payload); // Orbit to circle around the waypoint, in meters. Set to 0 to fly straight through the waypoint i += put_uint8_t_by_index(orbit_direction, i, msg->payload); // Direction of the orbit circling: 0: clockwise, 1: counter-clockwise i += put_float_by_index(param1, i, msg->payload); // For waypoints of type 0 and 1: Radius in which the waypoint is accepted as reached, in meters i += put_float_by_index(param2, i, msg->payload); // For waypoints of type 0 and 1: Time that the MAV should stay inside the orbit before advancing, in milliseconds i += put_uint8_t_by_index(current, i, msg->payload); // false:0, true:1 i += put_float_by_index(x, i, msg->payload); // local: x position, global: longitude i += put_float_by_index(y, i, msg->payload); // y position: global: latitude i += put_float_by_index(z, i, msg->payload); // z position: global: altitude i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH i += put_uint8_t_by_index(autocontinue, i, msg->payload); // autocontinue to next wp return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a waypoint 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 waypoint C-struct to read the message contents from */ static inline uint16_t mavlink_msg_waypoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_t* waypoint) { return mavlink_msg_waypoint_pack(system_id, component_id, msg, waypoint->target_system, waypoint->target_component, waypoint->seq, waypoint->frame, waypoint->action, waypoint->orbit, waypoint->orbit_direction, waypoint->param1, waypoint->param2, waypoint->current, waypoint->x, waypoint->y, waypoint->z, waypoint->yaw, waypoint->autocontinue); } /** * @brief Send a waypoint message * @param chan MAVLink channel to send the message * * @param target_system System ID * @param target_component Component ID * @param seq Sequence * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h * @param action The scheduled action for the waypoint. see MAV_ACTION in mavlink_types.h * @param orbit Orbit to circle around the waypoint, in meters. Set to 0 to fly straight through the waypoint * @param orbit_direction Direction of the orbit circling: 0: clockwise, 1: counter-clockwise * @param param1 For waypoints of type 0 and 1: Radius in which the waypoint is accepted as reached, in meters * @param param2 For waypoints of type 0 and 1: Time that the MAV should stay inside the orbit before advancing, in milliseconds * @param current false:0, true:1 * @param x local: x position, global: longitude * @param y y position: global: latitude * @param z z position: global: altitude * @param yaw yaw orientation in radians, 0 = NORTH * @param autocontinue autocontinue to next wp */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 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 action, float orbit, uint8_t orbit_direction, float param1, float param2, uint8_t current, float x, float y, float z, float yaw, uint8_t autocontinue) { mavlink_message_t msg; mavlink_msg_waypoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, seq, frame, action, orbit, orbit_direction, param1, param2, current, x, y, z, yaw, autocontinue); mavlink_send_uart(chan, &msg); } #endif // MESSAGE WAYPOINT UNPACKING /** * @brief Get field target_system from waypoint message * * @return System ID */ static inline uint8_t mavlink_msg_waypoint_get_target_system(const mavlink_message_t* msg) { return (uint8_t)(msg->payload)[0]; } /** * @brief Get field target_component from waypoint message * * @return Component ID */ static inline uint8_t mavlink_msg_waypoint_get_target_component(const mavlink_message_t* msg) { return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; } /** * @brief Get field seq from waypoint message * * @return Sequence */ 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; } /** * @brief Get field frame from waypoint message * * @return The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h */ 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]; } /** * @brief Get field action from waypoint message * * @return The scheduled action for the waypoint. see MAV_ACTION in mavlink_types.h */ static inline uint8_t mavlink_msg_waypoint_get_action(const mavlink_message_t* msg) { return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t))[0]; } /** * @brief Get field orbit from waypoint message * * @return Orbit to circle around the waypoint, in meters. Set to 0 to fly straight through the waypoint */ static inline float mavlink_msg_waypoint_get_orbit(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))[0]; r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_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))[2]; r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[3]; return (float)r.f; } /** * @brief Get field orbit_direction from waypoint message * * @return Direction of the orbit circling: 0: clockwise, 1: counter-clockwise */ static inline uint8_t mavlink_msg_waypoint_get_orbit_direction(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(float))[0]; } /** * @brief Get field param1 from waypoint message * * @return For waypoints of type 0 and 1: Radius in which the waypoint is accepted as reached, in meters */ 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(float)+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(float)+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(float)+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(float)+sizeof(uint8_t))[3]; return (float)r.f; } /** * @brief Get field param2 from waypoint message * * @return For waypoints of type 0 and 1: Time that the MAV should stay inside the orbit before advancing, in milliseconds */ 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(float)+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(float)+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(float)+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(float)+sizeof(uint8_t)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field current from waypoint message * * @return false:0, true:1 */ 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)+sizeof(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; } /** * @brief Get field x from waypoint message * * @return local: x position, global: longitude */ 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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[3]; return (float)r.f; } /** * @brief Get field y from waypoint message * * @return y position: global: latitude */ 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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field z from waypoint message * * @return z position: global: altitude */ 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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field yaw from waypoint message * * @return yaw orientation in radians, 0 = NORTH */ static inline float mavlink_msg_waypoint_get_yaw(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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field autocontinue from waypoint message * * @return autocontinue to next wp */ 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(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; } /** * @brief Decode a waypoint message into a struct * * @param msg The message to decode * @param waypoint C-struct to decode the message contents into */ static inline void mavlink_msg_waypoint_decode(const mavlink_message_t* msg, mavlink_waypoint_t* waypoint) { 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); waypoint->frame = mavlink_msg_waypoint_get_frame(msg); waypoint->action = mavlink_msg_waypoint_get_action(msg); waypoint->orbit = mavlink_msg_waypoint_get_orbit(msg); waypoint->orbit_direction = mavlink_msg_waypoint_get_orbit_direction(msg); waypoint->param1 = mavlink_msg_waypoint_get_param1(msg); waypoint->param2 = mavlink_msg_waypoint_get_param2(msg); waypoint->current = mavlink_msg_waypoint_get_current(msg); waypoint->x = mavlink_msg_waypoint_get_x(msg); waypoint->y = mavlink_msg_waypoint_get_y(msg); waypoint->z = mavlink_msg_waypoint_get_z(msg); waypoint->yaw = mavlink_msg_waypoint_get_yaw(msg); waypoint->autocontinue = mavlink_msg_waypoint_get_autocontinue(msg); }