mirror of https://github.com/ArduPilot/ardupilot
241 lines
11 KiB
C
241 lines
11 KiB
C
// MESSAGE COMMAND PACKING
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#define MAVLINK_MSG_ID_COMMAND 75
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typedef struct __mavlink_command_t
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{
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uint8_t target_system; ///< System which should execute the command
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uint8_t target_component; ///< Component which should execute the command, 0 for all components
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uint8_t command; ///< Command ID, as defined by MAV_CMD enum.
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uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
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float param1; ///< Parameter 1, as defined by MAV_CMD enum.
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float param2; ///< Parameter 2, as defined by MAV_CMD enum.
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float param3; ///< Parameter 3, as defined by MAV_CMD enum.
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float param4; ///< Parameter 4, as defined by MAV_CMD enum.
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} mavlink_command_t;
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/**
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* @brief Pack a command message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param target_system System which should execute the command
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* @param target_component Component which should execute the command, 0 for all components
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* @param command Command ID, as defined by MAV_CMD enum.
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* @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
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* @param param1 Parameter 1, as defined by MAV_CMD enum.
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* @param param2 Parameter 2, as defined by MAV_CMD enum.
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* @param param3 Parameter 3, as defined by MAV_CMD enum.
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* @param param4 Parameter 4, as defined by MAV_CMD enum.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_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)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_COMMAND;
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i += put_uint8_t_by_index(target_system, i, msg->payload); // System which should execute the command
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i += put_uint8_t_by_index(target_component, i, msg->payload); // Component which should execute the command, 0 for all components
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i += put_uint8_t_by_index(command, i, msg->payload); // Command ID, as defined by MAV_CMD enum.
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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)
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i += put_float_by_index(param1, i, msg->payload); // Parameter 1, as defined by MAV_CMD enum.
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i += put_float_by_index(param2, i, msg->payload); // Parameter 2, as defined by MAV_CMD enum.
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i += put_float_by_index(param3, i, msg->payload); // Parameter 3, as defined by MAV_CMD enum.
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i += put_float_by_index(param4, i, msg->payload); // Parameter 4, as defined by MAV_CMD enum.
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return mavlink_finalize_message(msg, system_id, component_id, i);
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}
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/**
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* @brief Pack a command message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param target_system System which should execute the command
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* @param target_component Component which should execute the command, 0 for all components
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* @param command Command ID, as defined by MAV_CMD enum.
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* @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
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* @param param1 Parameter 1, as defined by MAV_CMD enum.
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* @param param2 Parameter 2, as defined by MAV_CMD enum.
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* @param param3 Parameter 3, as defined by MAV_CMD enum.
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* @param param4 Parameter 4, as defined by MAV_CMD enum.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_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)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_COMMAND;
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i += put_uint8_t_by_index(target_system, i, msg->payload); // System which should execute the command
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i += put_uint8_t_by_index(target_component, i, msg->payload); // Component which should execute the command, 0 for all components
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i += put_uint8_t_by_index(command, i, msg->payload); // Command ID, as defined by MAV_CMD enum.
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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)
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i += put_float_by_index(param1, i, msg->payload); // Parameter 1, as defined by MAV_CMD enum.
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i += put_float_by_index(param2, i, msg->payload); // Parameter 2, as defined by MAV_CMD enum.
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i += put_float_by_index(param3, i, msg->payload); // Parameter 3, as defined by MAV_CMD enum.
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i += put_float_by_index(param4, i, msg->payload); // Parameter 4, as defined by MAV_CMD enum.
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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}
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/**
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* @brief Encode a command struct into a message
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param command C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_t* command)
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{
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return mavlink_msg_command_pack(system_id, component_id, msg, command->target_system, command->target_component, command->command, command->confirmation, command->param1, command->param2, command->param3, command->param4);
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}
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/**
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* @brief Send a command message
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* @param chan MAVLink channel to send the message
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*
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* @param target_system System which should execute the command
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* @param target_component Component which should execute the command, 0 for all components
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* @param command Command ID, as defined by MAV_CMD enum.
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* @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
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* @param param1 Parameter 1, as defined by MAV_CMD enum.
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* @param param2 Parameter 2, as defined by MAV_CMD enum.
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* @param param3 Parameter 3, as defined by MAV_CMD enum.
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* @param param4 Parameter 4, as defined by MAV_CMD enum.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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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)
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{
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mavlink_message_t msg;
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mavlink_msg_command_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, command, confirmation, param1, param2, param3, param4);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE COMMAND UNPACKING
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/**
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* @brief Get field target_system from command message
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*
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* @return System which should execute the command
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*/
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static inline uint8_t mavlink_msg_command_get_target_system(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload)[0];
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}
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/**
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* @brief Get field target_component from command message
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*
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* @return Component which should execute the command, 0 for all components
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*/
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static inline uint8_t mavlink_msg_command_get_target_component(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
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}
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/**
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* @brief Get field command from command message
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*
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* @return Command ID, as defined by MAV_CMD enum.
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*/
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static inline uint8_t mavlink_msg_command_get_command(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
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}
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/**
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* @brief Get field confirmation from command message
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*
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* @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
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*/
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static inline uint8_t mavlink_msg_command_get_confirmation(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
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}
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/**
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* @brief Get field param1 from command message
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*
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* @return Parameter 1, as defined by MAV_CMD enum.
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*/
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static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
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r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[2];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[3];
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return (float)r.f;
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}
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/**
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* @brief Get field param2 from command message
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*
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* @return Parameter 2, as defined by MAV_CMD enum.
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*/
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static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3];
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return (float)r.f;
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}
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/**
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* @brief Get field param3 from command message
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*
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* @return Parameter 3, as defined by MAV_CMD enum.
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*/
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static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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}
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/**
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* @brief Get field param4 from command message
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*
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* @return Parameter 4, as defined by MAV_CMD enum.
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*/
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static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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}
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/**
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* @brief Decode a command message into a struct
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*
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* @param msg The message to decode
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* @param command C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_command_decode(const mavlink_message_t* msg, mavlink_command_t* command)
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{
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command->target_system = mavlink_msg_command_get_target_system(msg);
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command->target_component = mavlink_msg_command_get_target_component(msg);
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command->command = mavlink_msg_command_get_command(msg);
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command->confirmation = mavlink_msg_command_get_confirmation(msg);
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command->param1 = mavlink_msg_command_get_param1(msg);
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command->param2 = mavlink_msg_command_get_param2(msg);
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command->param3 = mavlink_msg_command_get_param3(msg);
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command->param4 = mavlink_msg_command_get_param4(msg);
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}
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