mirror of https://github.com/ArduPilot/ardupilot
318 lines
17 KiB
C
318 lines
17 KiB
C
// MESSAGE WAYPOINT PACKING
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#define MAVLINK_MSG_ID_WAYPOINT 39
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typedef struct __mavlink_waypoint_t
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{
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uint8_t target_system; ///< System ID
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uint8_t target_component; ///< Component ID
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uint16_t seq; ///< Sequence
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uint8_t frame; ///< The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
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uint8_t action; ///< The scheduled action for the waypoint. see MAV_ACTION in mavlink_types.h
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float orbit; ///< Orbit to circle around the waypoint, in meters. Set to 0 to fly straight through the waypoint
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uint8_t orbit_direction; ///< Direction of the orbit circling: 0: clockwise, 1: counter-clockwise
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float param1; ///< For waypoints of type 0 and 1: Radius in which the waypoint is accepted as reached, in meters
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float param2; ///< For waypoints of type 0 and 1: Time that the MAV should stay inside the orbit before advancing, in milliseconds
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uint8_t current; ///< false:0, true:1
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float x; ///< local: x position, global: longitude
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float y; ///< y position: global: latitude
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float z; ///< z position: global: altitude
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float yaw; ///< yaw orientation in radians, 0 = NORTH
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uint8_t autocontinue; ///< autocontinue to next wp
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} mavlink_waypoint_t;
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/**
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* @brief Send a waypoint message
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*
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* @param target_system System ID
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* @param target_component Component ID
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* @param seq Sequence
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* @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
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* @param action The scheduled action for the waypoint. see MAV_ACTION in mavlink_types.h
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* @param orbit Orbit to circle around the waypoint, in meters. Set to 0 to fly straight through the waypoint
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* @param orbit_direction Direction of the orbit circling: 0: clockwise, 1: counter-clockwise
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* @param param1 For waypoints of type 0 and 1: Radius in which the waypoint is accepted as reached, in meters
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* @param param2 For waypoints of type 0 and 1: Time that the MAV should stay inside the orbit before advancing, in milliseconds
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* @param current false:0, true:1
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* @param x local: x position, global: longitude
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* @param y y position: global: latitude
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* @param z z position: global: altitude
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* @param yaw yaw orientation in radians, 0 = NORTH
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* @param autocontinue autocontinue to next wp
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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_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)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_WAYPOINT;
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i += put_uint8_t_by_index(target_system, i, msg->payload); //System ID
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i += put_uint8_t_by_index(target_component, i, msg->payload); //Component ID
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i += put_uint16_t_by_index(seq, i, msg->payload); //Sequence
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i += put_uint8_t_by_index(frame, i, msg->payload); //The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
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i += put_uint8_t_by_index(action, i, msg->payload); //The scheduled action for the waypoint. see MAV_ACTION in mavlink_types.h
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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
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i += put_uint8_t_by_index(orbit_direction, i, msg->payload); //Direction of the orbit circling: 0: clockwise, 1: counter-clockwise
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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
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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
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i += put_uint8_t_by_index(current, i, msg->payload); //false:0, true:1
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i += put_float_by_index(x, i, msg->payload); //local: x position, global: longitude
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i += put_float_by_index(y, i, msg->payload); //y position: global: latitude
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i += put_float_by_index(z, i, msg->payload); //z position: global: altitude
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i += put_float_by_index(yaw, i, msg->payload); //yaw orientation in radians, 0 = NORTH
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i += put_uint8_t_by_index(autocontinue, i, msg->payload); //autocontinue to next wp
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return mavlink_finalize_message(msg, system_id, component_id, i);
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}
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static inline uint16_t mavlink_msg_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)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_WAYPOINT;
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i += put_uint8_t_by_index(target_system, i, msg->payload); //System ID
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i += put_uint8_t_by_index(target_component, i, msg->payload); //Component ID
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i += put_uint16_t_by_index(seq, i, msg->payload); //Sequence
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i += put_uint8_t_by_index(frame, i, msg->payload); //The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
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i += put_uint8_t_by_index(action, i, msg->payload); //The scheduled action for the waypoint. see MAV_ACTION in mavlink_types.h
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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
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i += put_uint8_t_by_index(orbit_direction, i, msg->payload); //Direction of the orbit circling: 0: clockwise, 1: counter-clockwise
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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
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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
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i += put_uint8_t_by_index(current, i, msg->payload); //false:0, true:1
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i += put_float_by_index(x, i, msg->payload); //local: x position, global: longitude
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i += put_float_by_index(y, i, msg->payload); //y position: global: latitude
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i += put_float_by_index(z, i, msg->payload); //z position: global: altitude
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i += put_float_by_index(yaw, i, msg->payload); //yaw orientation in radians, 0 = NORTH
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i += put_uint8_t_by_index(autocontinue, i, msg->payload); //autocontinue to next wp
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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}
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static inline uint16_t mavlink_msg_waypoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_t* waypoint)
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{
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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);
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}
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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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)
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{
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mavlink_message_t msg;
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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);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE WAYPOINT UNPACKING
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/**
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* @brief Get field target_system from waypoint message
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*
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* @return System ID
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*/
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static inline uint8_t mavlink_msg_waypoint_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 waypoint message
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*
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* @return Component ID
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*/
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static inline uint8_t mavlink_msg_waypoint_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 seq from waypoint message
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*
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* @return Sequence
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*/
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static inline uint16_t mavlink_msg_waypoint_get_seq(const mavlink_message_t* msg)
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{
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generic_16bit r;
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
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return (uint16_t)r.s;
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}
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/**
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* @brief Get field frame from waypoint message
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*
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* @return The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
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*/
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static inline uint8_t mavlink_msg_waypoint_get_frame(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(uint16_t))[0];
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}
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/**
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* @brief Get field action from waypoint message
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*
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* @return The scheduled action for the waypoint. see MAV_ACTION in mavlink_types.h
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*/
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static inline uint8_t mavlink_msg_waypoint_get_action(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(uint16_t)+sizeof(uint8_t))[0];
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}
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/**
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* @brief Get field orbit from waypoint message
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*
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* @return Orbit to circle around the waypoint, in meters. Set to 0 to fly straight through the waypoint
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*/
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static inline float mavlink_msg_waypoint_get_orbit(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(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
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r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[2];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_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 orbit_direction from waypoint message
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*
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* @return Direction of the orbit circling: 0: clockwise, 1: counter-clockwise
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*/
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static inline uint8_t mavlink_msg_waypoint_get_orbit_direction(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(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
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}
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/**
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* @brief Get field param1 from waypoint message
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*
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* @return For waypoints of type 0 and 1: Radius in which the waypoint is accepted as reached, in meters
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*/
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static inline float mavlink_msg_waypoint_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(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(uint8_t))[0];
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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];
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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];
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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];
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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 waypoint message
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*
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* @return For waypoints of type 0 and 1: Time that the MAV should stay inside the orbit before advancing, in milliseconds
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*/
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static inline float mavlink_msg_waypoint_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(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(uint8_t)+sizeof(float))[0];
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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];
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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];
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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];
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return (float)r.f;
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}
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/**
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* @brief Get field current from waypoint message
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*
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* @return false:0, true:1
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*/
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static inline uint8_t mavlink_msg_waypoint_get_current(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(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
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}
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/**
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* @brief Get field x from waypoint message
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*
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* @return local: x position, global: longitude
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*/
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static inline float mavlink_msg_waypoint_get_x(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(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0];
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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];
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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];
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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];
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return (float)r.f;
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}
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/**
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* @brief Get field y from waypoint message
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*
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* @return y position: global: latitude
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*/
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static inline float mavlink_msg_waypoint_get_y(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(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(float))[0];
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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];
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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];
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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];
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return (float)r.f;
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}
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/**
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* @brief Get field z from waypoint message
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*
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* @return z position: global: altitude
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*/
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static inline float mavlink_msg_waypoint_get_z(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(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];
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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];
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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];
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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];
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return (float)r.f;
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}
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/**
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* @brief Get field yaw from waypoint message
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*
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* @return yaw orientation in radians, 0 = NORTH
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*/
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static inline float mavlink_msg_waypoint_get_yaw(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(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];
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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];
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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];
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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];
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return (float)r.f;
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}
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/**
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* @brief Get field autocontinue from waypoint message
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*
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* @return autocontinue to next wp
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*/
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static inline uint8_t mavlink_msg_waypoint_get_autocontinue(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(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];
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}
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static inline void mavlink_msg_waypoint_decode(const mavlink_message_t* msg, mavlink_waypoint_t* waypoint)
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{
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waypoint->target_system = mavlink_msg_waypoint_get_target_system(msg);
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waypoint->target_component = mavlink_msg_waypoint_get_target_component(msg);
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waypoint->seq = mavlink_msg_waypoint_get_seq(msg);
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waypoint->frame = mavlink_msg_waypoint_get_frame(msg);
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waypoint->action = mavlink_msg_waypoint_get_action(msg);
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waypoint->orbit = mavlink_msg_waypoint_get_orbit(msg);
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waypoint->orbit_direction = mavlink_msg_waypoint_get_orbit_direction(msg);
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waypoint->param1 = mavlink_msg_waypoint_get_param1(msg);
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waypoint->param2 = mavlink_msg_waypoint_get_param2(msg);
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waypoint->current = mavlink_msg_waypoint_get_current(msg);
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waypoint->x = mavlink_msg_waypoint_get_x(msg);
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waypoint->y = mavlink_msg_waypoint_get_y(msg);
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waypoint->z = mavlink_msg_waypoint_get_z(msg);
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waypoint->yaw = mavlink_msg_waypoint_get_yaw(msg);
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waypoint->autocontinue = mavlink_msg_waypoint_get_autocontinue(msg);
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}
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