mirror of https://github.com/ArduPilot/ardupilot
299 lines
11 KiB
C
299 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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#define MAVLINK_MSG_ID_COMMAND_LEN 20
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#define MAVLINK_MSG_ID_75_LEN 20
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#define MAVLINK_MESSAGE_INFO_COMMAND { \
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"COMMAND", \
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8, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_command_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_command_t, target_component) }, \
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{ "command", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_t, command) }, \
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{ "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_command_t, confirmation) }, \
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{ "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_t, param1) }, \
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{ "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_t, param2) }, \
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{ "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_t, param3) }, \
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{ "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_t, param4) }, \
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} \
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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 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,
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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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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[20];
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_mav_put_uint8_t(buf, 0, target_system);
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_mav_put_uint8_t(buf, 1, target_component);
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_mav_put_uint8_t(buf, 2, command);
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_mav_put_uint8_t(buf, 3, confirmation);
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_mav_put_float(buf, 4, param1);
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_mav_put_float(buf, 8, param2);
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_mav_put_float(buf, 12, param3);
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_mav_put_float(buf, 16, param4);
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memcpy(_MAV_PAYLOAD(msg), buf, 20);
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#else
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mavlink_command_t packet;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.command = command;
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packet.confirmation = confirmation;
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packet.param1 = param1;
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packet.param2 = param2;
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packet.param3 = param3;
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packet.param4 = param4;
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memcpy(_MAV_PAYLOAD(msg), &packet, 20);
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#endif
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msg->msgid = MAVLINK_MSG_ID_COMMAND;
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return mavlink_finalize_message(msg, system_id, component_id, 20);
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}
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/**
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* @brief Pack a command message on a channel
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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,
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mavlink_message_t* msg,
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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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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[20];
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_mav_put_uint8_t(buf, 0, target_system);
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_mav_put_uint8_t(buf, 1, target_component);
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_mav_put_uint8_t(buf, 2, command);
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_mav_put_uint8_t(buf, 3, confirmation);
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_mav_put_float(buf, 4, param1);
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_mav_put_float(buf, 8, param2);
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_mav_put_float(buf, 12, param3);
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_mav_put_float(buf, 16, param4);
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memcpy(_MAV_PAYLOAD(msg), buf, 20);
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#else
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mavlink_command_t packet;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.command = command;
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packet.confirmation = confirmation;
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packet.param1 = param1;
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packet.param2 = param2;
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packet.param3 = param3;
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packet.param4 = param4;
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memcpy(_MAV_PAYLOAD(msg), &packet, 20);
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#endif
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msg->msgid = MAVLINK_MSG_ID_COMMAND;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20);
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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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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[20];
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_mav_put_uint8_t(buf, 0, target_system);
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_mav_put_uint8_t(buf, 1, target_component);
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_mav_put_uint8_t(buf, 2, command);
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_mav_put_uint8_t(buf, 3, confirmation);
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_mav_put_float(buf, 4, param1);
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_mav_put_float(buf, 8, param2);
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_mav_put_float(buf, 12, param3);
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_mav_put_float(buf, 16, param4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, buf, 20);
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#else
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mavlink_command_t packet;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.command = command;
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packet.confirmation = confirmation;
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packet.param1 = param1;
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packet.param2 = param2;
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packet.param3 = param3;
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packet.param4 = param4;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, (const char *)&packet, 20);
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#endif
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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 _MAV_RETURN_uint8_t(msg, 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 _MAV_RETURN_uint8_t(msg, 1);
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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 _MAV_RETURN_uint8_t(msg, 2);
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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 _MAV_RETURN_uint8_t(msg, 3);
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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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return _MAV_RETURN_float(msg, 4);
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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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return _MAV_RETURN_float(msg, 8);
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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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return _MAV_RETURN_float(msg, 12);
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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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return _MAV_RETURN_float(msg, 16);
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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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#if MAVLINK_NEED_BYTE_SWAP
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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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#else
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memcpy(command, _MAV_PAYLOAD(msg), 20);
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#endif
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}
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