3ae2186021
this new implementation reduces code size, and also reduces stack usage, while avoiding the gcc union stack bug Note that we will gain even more when we move to the new protocol version, especially in terms of code size git-svn-id: https://arducopter.googlecode.com/svn/trunk@3200 f9c3cf11-9bcb-44bc-f272-b75c42450872
321 lines
11 KiB
C
321 lines
11 KiB
C
// MESSAGE MANUAL_CONTROL PACKING
|
|
|
|
#define MAVLINK_MSG_ID_MANUAL_CONTROL 69
|
|
|
|
typedef struct __mavlink_manual_control_t
|
|
{
|
|
uint8_t target; ///< The system to be controlled
|
|
float roll; ///< roll
|
|
float pitch; ///< pitch
|
|
float yaw; ///< yaw
|
|
float thrust; ///< thrust
|
|
uint8_t roll_manual; ///< roll control enabled auto:0, manual:1
|
|
uint8_t pitch_manual; ///< pitch auto:0, manual:1
|
|
uint8_t yaw_manual; ///< yaw auto:0, manual:1
|
|
uint8_t thrust_manual; ///< thrust auto:0, manual:1
|
|
} mavlink_manual_control_t;
|
|
|
|
#define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 21
|
|
#define MAVLINK_MSG_ID_69_LEN 21
|
|
|
|
|
|
|
|
#define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \
|
|
"MANUAL_CONTROL", \
|
|
9, \
|
|
{ { "target", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_manual_control_t, target) }, \
|
|
{ "roll", MAVLINK_TYPE_FLOAT, 0, 1, offsetof(mavlink_manual_control_t, roll) }, \
|
|
{ "pitch", MAVLINK_TYPE_FLOAT, 0, 5, offsetof(mavlink_manual_control_t, pitch) }, \
|
|
{ "yaw", MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_manual_control_t, yaw) }, \
|
|
{ "thrust", MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_manual_control_t, thrust) }, \
|
|
{ "roll_manual", MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_manual_control_t, roll_manual) }, \
|
|
{ "pitch_manual", MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_manual_control_t, pitch_manual) }, \
|
|
{ "yaw_manual", MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_manual_control_t, yaw_manual) }, \
|
|
{ "thrust_manual", MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_control_t, thrust_manual) }, \
|
|
} \
|
|
}
|
|
|
|
|
|
/**
|
|
* @brief Pack a manual_control 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 The system to be controlled
|
|
* @param roll roll
|
|
* @param pitch pitch
|
|
* @param yaw yaw
|
|
* @param thrust thrust
|
|
* @param roll_manual roll control enabled auto:0, manual:1
|
|
* @param pitch_manual pitch auto:0, manual:1
|
|
* @param yaw_manual yaw auto:0, manual:1
|
|
* @param thrust_manual thrust auto:0, manual:1
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
|
uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[21];
|
|
_mav_put_uint8_t(buf, 0, target);
|
|
_mav_put_float(buf, 1, roll);
|
|
_mav_put_float(buf, 5, pitch);
|
|
_mav_put_float(buf, 9, yaw);
|
|
_mav_put_float(buf, 13, thrust);
|
|
_mav_put_uint8_t(buf, 17, roll_manual);
|
|
_mav_put_uint8_t(buf, 18, pitch_manual);
|
|
_mav_put_uint8_t(buf, 19, yaw_manual);
|
|
_mav_put_uint8_t(buf, 20, thrust_manual);
|
|
|
|
memcpy(_MAV_PAYLOAD(msg), buf, 21);
|
|
#else
|
|
mavlink_manual_control_t packet;
|
|
packet.target = target;
|
|
packet.roll = roll;
|
|
packet.pitch = pitch;
|
|
packet.yaw = yaw;
|
|
packet.thrust = thrust;
|
|
packet.roll_manual = roll_manual;
|
|
packet.pitch_manual = pitch_manual;
|
|
packet.yaw_manual = yaw_manual;
|
|
packet.thrust_manual = thrust_manual;
|
|
|
|
memcpy(_MAV_PAYLOAD(msg), &packet, 21);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
|
|
return mavlink_finalize_message(msg, system_id, component_id, 21);
|
|
}
|
|
|
|
/**
|
|
* @brief Pack a manual_control message on a channel
|
|
* @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 The system to be controlled
|
|
* @param roll roll
|
|
* @param pitch pitch
|
|
* @param yaw yaw
|
|
* @param thrust thrust
|
|
* @param roll_manual roll control enabled auto:0, manual:1
|
|
* @param pitch_manual pitch auto:0, manual:1
|
|
* @param yaw_manual yaw auto:0, manual:1
|
|
* @param thrust_manual thrust auto:0, manual:1
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
|
mavlink_message_t* msg,
|
|
uint8_t target,float roll,float pitch,float yaw,float thrust,uint8_t roll_manual,uint8_t pitch_manual,uint8_t yaw_manual,uint8_t thrust_manual)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[21];
|
|
_mav_put_uint8_t(buf, 0, target);
|
|
_mav_put_float(buf, 1, roll);
|
|
_mav_put_float(buf, 5, pitch);
|
|
_mav_put_float(buf, 9, yaw);
|
|
_mav_put_float(buf, 13, thrust);
|
|
_mav_put_uint8_t(buf, 17, roll_manual);
|
|
_mav_put_uint8_t(buf, 18, pitch_manual);
|
|
_mav_put_uint8_t(buf, 19, yaw_manual);
|
|
_mav_put_uint8_t(buf, 20, thrust_manual);
|
|
|
|
memcpy(_MAV_PAYLOAD(msg), buf, 21);
|
|
#else
|
|
mavlink_manual_control_t packet;
|
|
packet.target = target;
|
|
packet.roll = roll;
|
|
packet.pitch = pitch;
|
|
packet.yaw = yaw;
|
|
packet.thrust = thrust;
|
|
packet.roll_manual = roll_manual;
|
|
packet.pitch_manual = pitch_manual;
|
|
packet.yaw_manual = yaw_manual;
|
|
packet.thrust_manual = thrust_manual;
|
|
|
|
memcpy(_MAV_PAYLOAD(msg), &packet, 21);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a manual_control 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 manual_control C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control)
|
|
{
|
|
return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->roll, manual_control->pitch, manual_control->yaw, manual_control->thrust, manual_control->roll_manual, manual_control->pitch_manual, manual_control->yaw_manual, manual_control->thrust_manual);
|
|
}
|
|
|
|
/**
|
|
* @brief Send a manual_control message
|
|
* @param chan MAVLink channel to send the message
|
|
*
|
|
* @param target The system to be controlled
|
|
* @param roll roll
|
|
* @param pitch pitch
|
|
* @param yaw yaw
|
|
* @param thrust thrust
|
|
* @param roll_manual roll control enabled auto:0, manual:1
|
|
* @param pitch_manual pitch auto:0, manual:1
|
|
* @param yaw_manual yaw auto:0, manual:1
|
|
* @param thrust_manual thrust auto:0, manual:1
|
|
*/
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[21];
|
|
_mav_put_uint8_t(buf, 0, target);
|
|
_mav_put_float(buf, 1, roll);
|
|
_mav_put_float(buf, 5, pitch);
|
|
_mav_put_float(buf, 9, yaw);
|
|
_mav_put_float(buf, 13, thrust);
|
|
_mav_put_uint8_t(buf, 17, roll_manual);
|
|
_mav_put_uint8_t(buf, 18, pitch_manual);
|
|
_mav_put_uint8_t(buf, 19, yaw_manual);
|
|
_mav_put_uint8_t(buf, 20, thrust_manual);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, 21);
|
|
#else
|
|
mavlink_manual_control_t packet;
|
|
packet.target = target;
|
|
packet.roll = roll;
|
|
packet.pitch = pitch;
|
|
packet.yaw = yaw;
|
|
packet.thrust = thrust;
|
|
packet.roll_manual = roll_manual;
|
|
packet.pitch_manual = pitch_manual;
|
|
packet.yaw_manual = yaw_manual;
|
|
packet.thrust_manual = thrust_manual;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, 21);
|
|
#endif
|
|
}
|
|
|
|
#endif
|
|
|
|
// MESSAGE MANUAL_CONTROL UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field target from manual_control message
|
|
*
|
|
* @return The system to be controlled
|
|
*/
|
|
static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field roll from manual_control message
|
|
*
|
|
* @return roll
|
|
*/
|
|
static inline float mavlink_msg_manual_control_get_roll(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 1);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field pitch from manual_control message
|
|
*
|
|
* @return pitch
|
|
*/
|
|
static inline float mavlink_msg_manual_control_get_pitch(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 5);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field yaw from manual_control message
|
|
*
|
|
* @return yaw
|
|
*/
|
|
static inline float mavlink_msg_manual_control_get_yaw(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 9);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field thrust from manual_control message
|
|
*
|
|
* @return thrust
|
|
*/
|
|
static inline float mavlink_msg_manual_control_get_thrust(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 13);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field roll_manual from manual_control message
|
|
*
|
|
* @return roll control enabled auto:0, manual:1
|
|
*/
|
|
static inline uint8_t mavlink_msg_manual_control_get_roll_manual(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 17);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field pitch_manual from manual_control message
|
|
*
|
|
* @return pitch auto:0, manual:1
|
|
*/
|
|
static inline uint8_t mavlink_msg_manual_control_get_pitch_manual(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 18);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field yaw_manual from manual_control message
|
|
*
|
|
* @return yaw auto:0, manual:1
|
|
*/
|
|
static inline uint8_t mavlink_msg_manual_control_get_yaw_manual(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 19);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field thrust_manual from manual_control message
|
|
*
|
|
* @return thrust auto:0, manual:1
|
|
*/
|
|
static inline uint8_t mavlink_msg_manual_control_get_thrust_manual(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a manual_control message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param manual_control C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* msg, mavlink_manual_control_t* manual_control)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
|
manual_control->target = mavlink_msg_manual_control_get_target(msg);
|
|
manual_control->roll = mavlink_msg_manual_control_get_roll(msg);
|
|
manual_control->pitch = mavlink_msg_manual_control_get_pitch(msg);
|
|
manual_control->yaw = mavlink_msg_manual_control_get_yaw(msg);
|
|
manual_control->thrust = mavlink_msg_manual_control_get_thrust(msg);
|
|
manual_control->roll_manual = mavlink_msg_manual_control_get_roll_manual(msg);
|
|
manual_control->pitch_manual = mavlink_msg_manual_control_get_pitch_manual(msg);
|
|
manual_control->yaw_manual = mavlink_msg_manual_control_get_yaw_manual(msg);
|
|
manual_control->thrust_manual = mavlink_msg_manual_control_get_thrust_manual(msg);
|
|
#else
|
|
memcpy(manual_control, _MAV_PAYLOAD(msg), 21);
|
|
#endif
|
|
}
|