c7d2a71fea
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3017 f9c3cf11-9bcb-44bc-f272-b75c42450872
205 lines
9.2 KiB
C
205 lines
9.2 KiB
C
// MESSAGE RADIO_CALIBRATION PACKING
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#define MAVLINK_MSG_ID_RADIO_CALIBRATION 221
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typedef struct __mavlink_radio_calibration_t
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{
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uint16_t aileron[3]; ///< Aileron setpoints: left, center, right
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uint16_t elevator[3]; ///< Elevator setpoints: nose down, center, nose up
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uint16_t rudder[3]; ///< Rudder setpoints: nose left, center, nose right
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uint16_t gyro[2]; ///< Tail gyro mode/gain setpoints: heading hold, rate mode
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uint16_t pitch[5]; ///< Pitch curve setpoints (every 25%)
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uint16_t throttle[5]; ///< Throttle curve setpoints (every 25%)
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} mavlink_radio_calibration_t;
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#define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_AILERON_LEN 3
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#define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_ELEVATOR_LEN 3
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#define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_RUDDER_LEN 3
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#define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_GYRO_LEN 2
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#define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_PITCH_LEN 5
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#define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_THROTTLE_LEN 5
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/**
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* @brief Pack a radio_calibration 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 aileron Aileron setpoints: left, center, right
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* @param elevator Elevator setpoints: nose down, center, nose up
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* @param rudder Rudder setpoints: nose left, center, nose right
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* @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode
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* @param pitch Pitch curve setpoints (every 25%)
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* @param throttle Throttle curve setpoints (every 25%)
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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_radio_calibration_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION;
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i += put_array_by_index((const int8_t*)aileron, sizeof(uint16_t)*3, i, msg->payload); // Aileron setpoints: left, center, right
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i += put_array_by_index((const int8_t*)elevator, sizeof(uint16_t)*3, i, msg->payload); // Elevator setpoints: nose down, center, nose up
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i += put_array_by_index((const int8_t*)rudder, sizeof(uint16_t)*3, i, msg->payload); // Rudder setpoints: nose left, center, nose right
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i += put_array_by_index((const int8_t*)gyro, sizeof(uint16_t)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode
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i += put_array_by_index((const int8_t*)pitch, sizeof(uint16_t)*5, i, msg->payload); // Pitch curve setpoints (every 25%)
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i += put_array_by_index((const int8_t*)throttle, sizeof(uint16_t)*5, i, msg->payload); // Throttle curve setpoints (every 25%)
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return mavlink_finalize_message(msg, system_id, component_id, i);
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}
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/**
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* @brief Pack a radio_calibration 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 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 aileron Aileron setpoints: left, center, right
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* @param elevator Elevator setpoints: nose down, center, nose up
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* @param rudder Rudder setpoints: nose left, center, nose right
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* @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode
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* @param pitch Pitch curve setpoints (every 25%)
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* @param throttle Throttle curve setpoints (every 25%)
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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_radio_calibration_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION;
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i += put_array_by_index((const int8_t*)aileron, sizeof(uint16_t)*3, i, msg->payload); // Aileron setpoints: left, center, right
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i += put_array_by_index((const int8_t*)elevator, sizeof(uint16_t)*3, i, msg->payload); // Elevator setpoints: nose down, center, nose up
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i += put_array_by_index((const int8_t*)rudder, sizeof(uint16_t)*3, i, msg->payload); // Rudder setpoints: nose left, center, nose right
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i += put_array_by_index((const int8_t*)gyro, sizeof(uint16_t)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode
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i += put_array_by_index((const int8_t*)pitch, sizeof(uint16_t)*5, i, msg->payload); // Pitch curve setpoints (every 25%)
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i += put_array_by_index((const int8_t*)throttle, sizeof(uint16_t)*5, i, msg->payload); // Throttle curve setpoints (every 25%)
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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}
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/**
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* @brief Encode a radio_calibration 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 radio_calibration C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_radio_calibration_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_radio_calibration_t* radio_calibration)
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{
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return mavlink_msg_radio_calibration_pack(system_id, component_id, msg, radio_calibration->aileron, radio_calibration->elevator, radio_calibration->rudder, radio_calibration->gyro, radio_calibration->pitch, radio_calibration->throttle);
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}
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/**
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* @brief Send a radio_calibration message
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* @param chan MAVLink channel to send the message
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*
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* @param aileron Aileron setpoints: left, center, right
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* @param elevator Elevator setpoints: nose down, center, nose up
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* @param rudder Rudder setpoints: nose left, center, nose right
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* @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode
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* @param pitch Pitch curve setpoints (every 25%)
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* @param throttle Throttle curve setpoints (every 25%)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_radio_calibration_send(mavlink_channel_t chan, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle)
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{
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mavlink_message_t msg;
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mavlink_msg_radio_calibration_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, aileron, elevator, rudder, gyro, pitch, throttle);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE RADIO_CALIBRATION UNPACKING
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/**
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* @brief Get field aileron from radio_calibration message
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*
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* @return Aileron setpoints: left, center, right
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*/
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static inline uint16_t mavlink_msg_radio_calibration_get_aileron(const mavlink_message_t* msg, uint16_t* r_data)
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{
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memcpy(r_data, msg->payload, sizeof(uint16_t)*3);
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return sizeof(uint16_t)*3;
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}
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/**
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* @brief Get field elevator from radio_calibration message
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*
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* @return Elevator setpoints: nose down, center, nose up
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*/
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static inline uint16_t mavlink_msg_radio_calibration_get_elevator(const mavlink_message_t* msg, uint16_t* r_data)
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{
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memcpy(r_data, msg->payload+sizeof(uint16_t)*3, sizeof(uint16_t)*3);
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return sizeof(uint16_t)*3;
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}
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/**
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* @brief Get field rudder from radio_calibration message
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*
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* @return Rudder setpoints: nose left, center, nose right
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*/
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static inline uint16_t mavlink_msg_radio_calibration_get_rudder(const mavlink_message_t* msg, uint16_t* r_data)
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{
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memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3, sizeof(uint16_t)*3);
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return sizeof(uint16_t)*3;
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}
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/**
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* @brief Get field gyro from radio_calibration message
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*
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* @return Tail gyro mode/gain setpoints: heading hold, rate mode
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*/
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static inline uint16_t mavlink_msg_radio_calibration_get_gyro(const mavlink_message_t* msg, uint16_t* r_data)
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{
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memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3, sizeof(uint16_t)*2);
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return sizeof(uint16_t)*2;
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}
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/**
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* @brief Get field pitch from radio_calibration message
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*
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* @return Pitch curve setpoints (every 25%)
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*/
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static inline uint16_t mavlink_msg_radio_calibration_get_pitch(const mavlink_message_t* msg, uint16_t* r_data)
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{
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memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*2, sizeof(uint16_t)*5);
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return sizeof(uint16_t)*5;
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}
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/**
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* @brief Get field throttle from radio_calibration message
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*
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* @return Throttle curve setpoints (every 25%)
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*/
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static inline uint16_t mavlink_msg_radio_calibration_get_throttle(const mavlink_message_t* msg, uint16_t* r_data)
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{
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memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*2+sizeof(uint16_t)*5, sizeof(uint16_t)*5);
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return sizeof(uint16_t)*5;
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}
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/**
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* @brief Decode a radio_calibration message into a struct
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*
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* @param msg The message to decode
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* @param radio_calibration C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_radio_calibration_decode(const mavlink_message_t* msg, mavlink_radio_calibration_t* radio_calibration)
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{
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mavlink_msg_radio_calibration_get_aileron(msg, radio_calibration->aileron);
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mavlink_msg_radio_calibration_get_elevator(msg, radio_calibration->elevator);
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mavlink_msg_radio_calibration_get_rudder(msg, radio_calibration->rudder);
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mavlink_msg_radio_calibration_get_gyro(msg, radio_calibration->gyro);
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mavlink_msg_radio_calibration_get_pitch(msg, radio_calibration->pitch);
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mavlink_msg_radio_calibration_get_throttle(msg, radio_calibration->throttle);
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}
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