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
211 lines
6.0 KiB
C
211 lines
6.0 KiB
C
// MESSAGE POSITION_TARGET PACKING
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#define MAVLINK_MSG_ID_POSITION_TARGET 63
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typedef struct __mavlink_position_target_t
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{
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float x; ///< x position
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float y; ///< y position
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float z; ///< z position
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float yaw; ///< yaw orientation in radians, 0 = NORTH
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} mavlink_position_target_t;
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#define MAVLINK_MSG_ID_POSITION_TARGET_LEN 16
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#define MAVLINK_MSG_ID_63_LEN 16
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#define MAVLINK_MESSAGE_INFO_POSITION_TARGET { \
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"POSITION_TARGET", \
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4, \
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{ { "x", MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_position_target_t, x) }, \
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{ "y", MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_target_t, y) }, \
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{ "z", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_target_t, z) }, \
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{ "yaw", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_target_t, yaw) }, \
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} \
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}
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/**
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* @brief Pack a position_target 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 x x position
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* @param y y position
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* @param z z position
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* @param yaw yaw orientation in radians, 0 = NORTH
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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_position_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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float x, float y, float z, float yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[16];
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_mav_put_float(buf, 0, x);
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_mav_put_float(buf, 4, y);
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_mav_put_float(buf, 8, z);
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_mav_put_float(buf, 12, yaw);
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memcpy(_MAV_PAYLOAD(msg), buf, 16);
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#else
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mavlink_position_target_t packet;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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packet.yaw = yaw;
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memcpy(_MAV_PAYLOAD(msg), &packet, 16);
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#endif
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msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;
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return mavlink_finalize_message(msg, system_id, component_id, 16);
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}
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/**
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* @brief Pack a position_target 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 x x position
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* @param y y position
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* @param z z position
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* @param yaw yaw orientation in radians, 0 = NORTH
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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_position_target_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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float x,float y,float z,float yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[16];
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_mav_put_float(buf, 0, x);
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_mav_put_float(buf, 4, y);
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_mav_put_float(buf, 8, z);
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_mav_put_float(buf, 12, yaw);
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memcpy(_MAV_PAYLOAD(msg), buf, 16);
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#else
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mavlink_position_target_t packet;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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packet.yaw = yaw;
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memcpy(_MAV_PAYLOAD(msg), &packet, 16);
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#endif
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msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16);
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}
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/**
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* @brief Encode a position_target 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 position_target C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_position_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_target_t* position_target)
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{
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return mavlink_msg_position_target_pack(system_id, component_id, msg, position_target->x, position_target->y, position_target->z, position_target->yaw);
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}
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/**
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* @brief Send a position_target message
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* @param chan MAVLink channel to send the message
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*
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* @param x x position
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* @param y y position
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* @param z z position
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* @param yaw yaw orientation in radians, 0 = NORTH
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_position_target_send(mavlink_channel_t chan, float x, float y, float z, float yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[16];
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_mav_put_float(buf, 0, x);
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_mav_put_float(buf, 4, y);
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_mav_put_float(buf, 8, z);
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_mav_put_float(buf, 12, yaw);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET, buf, 16);
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#else
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mavlink_position_target_t packet;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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packet.yaw = yaw;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET, (const char *)&packet, 16);
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#endif
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}
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#endif
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// MESSAGE POSITION_TARGET UNPACKING
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/**
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* @brief Get field x from position_target message
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*
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* @return x position
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*/
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static inline float mavlink_msg_position_target_get_x(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 0);
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}
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/**
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* @brief Get field y from position_target message
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*
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* @return y position
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*/
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static inline float mavlink_msg_position_target_get_y(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 z from position_target message
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*
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* @return z position
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*/
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static inline float mavlink_msg_position_target_get_z(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 yaw from position_target 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_position_target_get_yaw(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 Decode a position_target message into a struct
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*
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* @param msg The message to decode
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* @param position_target C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_position_target_decode(const mavlink_message_t* msg, mavlink_position_target_t* position_target)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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position_target->x = mavlink_msg_position_target_get_x(msg);
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position_target->y = mavlink_msg_position_target_get_y(msg);
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position_target->z = mavlink_msg_position_target_get_z(msg);
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position_target->yaw = mavlink_msg_position_target_get_yaw(msg);
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#else
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memcpy(position_target, _MAV_PAYLOAD(msg), 16);
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#endif
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}
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