211 lines
7.9 KiB
C
211 lines
7.9 KiB
C
|
// MESSAGE VFR_HUD PACKING
|
||
|
|
||
|
#define MAVLINK_MSG_ID_VFR_HUD 74
|
||
|
|
||
|
typedef struct __mavlink_vfr_hud_t
|
||
|
{
|
||
|
float airspeed; ///< Current airspeed in m/s
|
||
|
float groundspeed; ///< Current ground speed in m/s
|
||
|
int16_t heading; ///< Current heading in degrees
|
||
|
uint16_t alt; ///< Current altitude (MSL), in meters
|
||
|
float climb; ///< Current climb rate in meters/second
|
||
|
uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100
|
||
|
|
||
|
} mavlink_vfr_hud_t;
|
||
|
|
||
|
|
||
|
|
||
|
/**
|
||
|
* @brief Pack a vfr_hud 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 airspeed Current airspeed in m/s
|
||
|
* @param groundspeed Current ground speed in m/s
|
||
|
* @param heading Current heading in degrees
|
||
|
* @param alt Current altitude (MSL), in meters
|
||
|
* @param climb Current climb rate in meters/second
|
||
|
* @param throttle Current throttle setting in integer percent, 0 to 100
|
||
|
* @return length of the message in bytes (excluding serial stream start sign)
|
||
|
*/
|
||
|
static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float airspeed, float groundspeed, int16_t heading, uint16_t alt, float climb, uint16_t throttle)
|
||
|
{
|
||
|
uint16_t i = 0;
|
||
|
msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
|
||
|
|
||
|
i += put_float_by_index(airspeed, i, msg->payload); // Current airspeed in m/s
|
||
|
i += put_float_by_index(groundspeed, i, msg->payload); // Current ground speed in m/s
|
||
|
i += put_int16_t_by_index(heading, i, msg->payload); // Current heading in degrees
|
||
|
i += put_uint16_t_by_index(alt, i, msg->payload); // Current altitude (MSL), in meters
|
||
|
i += put_float_by_index(climb, i, msg->payload); // Current climb rate in meters/second
|
||
|
i += put_uint16_t_by_index(throttle, i, msg->payload); // Current throttle setting in integer percent, 0 to 100
|
||
|
|
||
|
return mavlink_finalize_message(msg, system_id, component_id, i);
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* @brief Pack a vfr_hud 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 airspeed Current airspeed in m/s
|
||
|
* @param groundspeed Current ground speed in m/s
|
||
|
* @param heading Current heading in degrees
|
||
|
* @param alt Current altitude (MSL), in meters
|
||
|
* @param climb Current climb rate in meters/second
|
||
|
* @param throttle Current throttle setting in integer percent, 0 to 100
|
||
|
* @return length of the message in bytes (excluding serial stream start sign)
|
||
|
*/
|
||
|
static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float airspeed, float groundspeed, int16_t heading, uint16_t alt, float climb, uint16_t throttle)
|
||
|
{
|
||
|
uint16_t i = 0;
|
||
|
msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
|
||
|
|
||
|
i += put_float_by_index(airspeed, i, msg->payload); // Current airspeed in m/s
|
||
|
i += put_float_by_index(groundspeed, i, msg->payload); // Current ground speed in m/s
|
||
|
i += put_int16_t_by_index(heading, i, msg->payload); // Current heading in degrees
|
||
|
i += put_uint16_t_by_index(alt, i, msg->payload); // Current altitude (MSL), in meters
|
||
|
i += put_float_by_index(climb, i, msg->payload); // Current climb rate in meters/second
|
||
|
i += put_uint16_t_by_index(throttle, i, msg->payload); // Current throttle setting in integer percent, 0 to 100
|
||
|
|
||
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* @brief Encode a vfr_hud 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 vfr_hud C-struct to read the message contents from
|
||
|
*/
|
||
|
static inline uint16_t mavlink_msg_vfr_hud_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud)
|
||
|
{
|
||
|
return mavlink_msg_vfr_hud_pack(system_id, component_id, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->alt, vfr_hud->climb, vfr_hud->throttle);
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* @brief Send a vfr_hud message
|
||
|
* @param chan MAVLink channel to send the message
|
||
|
*
|
||
|
* @param airspeed Current airspeed in m/s
|
||
|
* @param groundspeed Current ground speed in m/s
|
||
|
* @param heading Current heading in degrees
|
||
|
* @param alt Current altitude (MSL), in meters
|
||
|
* @param climb Current climb rate in meters/second
|
||
|
* @param throttle Current throttle setting in integer percent, 0 to 100
|
||
|
*/
|
||
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||
|
|
||
|
static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t alt, float climb, uint16_t throttle)
|
||
|
{
|
||
|
mavlink_message_t msg;
|
||
|
mavlink_msg_vfr_hud_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, airspeed, groundspeed, heading, alt, climb, throttle);
|
||
|
mavlink_send_uart(chan, &msg);
|
||
|
}
|
||
|
|
||
|
#endif
|
||
|
// MESSAGE VFR_HUD UNPACKING
|
||
|
|
||
|
/**
|
||
|
* @brief Get field airspeed from vfr_hud message
|
||
|
*
|
||
|
* @return Current airspeed in m/s
|
||
|
*/
|
||
|
static inline float mavlink_msg_vfr_hud_get_airspeed(const mavlink_message_t* msg)
|
||
|
{
|
||
|
generic_32bit r;
|
||
|
r.b[3] = (msg->payload)[0];
|
||
|
r.b[2] = (msg->payload)[1];
|
||
|
r.b[1] = (msg->payload)[2];
|
||
|
r.b[0] = (msg->payload)[3];
|
||
|
return (float)r.f;
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* @brief Get field groundspeed from vfr_hud message
|
||
|
*
|
||
|
* @return Current ground speed in m/s
|
||
|
*/
|
||
|
static inline float mavlink_msg_vfr_hud_get_groundspeed(const mavlink_message_t* msg)
|
||
|
{
|
||
|
generic_32bit r;
|
||
|
r.b[3] = (msg->payload+sizeof(float))[0];
|
||
|
r.b[2] = (msg->payload+sizeof(float))[1];
|
||
|
r.b[1] = (msg->payload+sizeof(float))[2];
|
||
|
r.b[0] = (msg->payload+sizeof(float))[3];
|
||
|
return (float)r.f;
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* @brief Get field heading from vfr_hud message
|
||
|
*
|
||
|
* @return Current heading in degrees
|
||
|
*/
|
||
|
static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* msg)
|
||
|
{
|
||
|
generic_16bit r;
|
||
|
r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[0];
|
||
|
r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[1];
|
||
|
return (int16_t)r.s;
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* @brief Get field alt from vfr_hud message
|
||
|
*
|
||
|
* @return Current altitude (MSL), in meters
|
||
|
*/
|
||
|
static inline uint16_t mavlink_msg_vfr_hud_get_alt(const mavlink_message_t* msg)
|
||
|
{
|
||
|
generic_16bit r;
|
||
|
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[0];
|
||
|
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[1];
|
||
|
return (uint16_t)r.s;
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* @brief Get field climb from vfr_hud message
|
||
|
*
|
||
|
* @return Current climb rate in meters/second
|
||
|
*/
|
||
|
static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg)
|
||
|
{
|
||
|
generic_32bit r;
|
||
|
r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[0];
|
||
|
r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[1];
|
||
|
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[2];
|
||
|
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[3];
|
||
|
return (float)r.f;
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* @brief Get field throttle from vfr_hud message
|
||
|
*
|
||
|
* @return Current throttle setting in integer percent, 0 to 100
|
||
|
*/
|
||
|
static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t* msg)
|
||
|
{
|
||
|
generic_16bit r;
|
||
|
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[0];
|
||
|
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[1];
|
||
|
return (uint16_t)r.s;
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* @brief Decode a vfr_hud message into a struct
|
||
|
*
|
||
|
* @param msg The message to decode
|
||
|
* @param vfr_hud C-struct to decode the message contents into
|
||
|
*/
|
||
|
static inline void mavlink_msg_vfr_hud_decode(const mavlink_message_t* msg, mavlink_vfr_hud_t* vfr_hud)
|
||
|
{
|
||
|
vfr_hud->airspeed = mavlink_msg_vfr_hud_get_airspeed(msg);
|
||
|
vfr_hud->groundspeed = mavlink_msg_vfr_hud_get_groundspeed(msg);
|
||
|
vfr_hud->heading = mavlink_msg_vfr_hud_get_heading(msg);
|
||
|
vfr_hud->alt = mavlink_msg_vfr_hud_get_alt(msg);
|
||
|
vfr_hud->climb = mavlink_msg_vfr_hud_get_climb(msg);
|
||
|
vfr_hud->throttle = mavlink_msg_vfr_hud_get_throttle(msg);
|
||
|
}
|