a37d1ddb91
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1015 f9c3cf11-9bcb-44bc-f272-b75c42450872
129 lines
4.6 KiB
C
129 lines
4.6 KiB
C
// MESSAGE PARAM_VALUE PACKING
|
|
|
|
#define MAVLINK_MSG_ID_PARAM_VALUE 22
|
|
|
|
typedef struct __mavlink_param_value_t
|
|
{
|
|
int8_t param_id[15]; ///< Onboard parameter id
|
|
float param_value; ///< Onboard parameter value
|
|
uint16_t param_count; ///< Total number of onboard parameters
|
|
uint16_t param_index; ///< Index of this onboard parameter
|
|
|
|
} mavlink_param_value_t;
|
|
|
|
#define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 15
|
|
|
|
|
|
/**
|
|
* @brief Send a param_value message
|
|
*
|
|
* @param param_id Onboard parameter id
|
|
* @param param_value Onboard parameter value
|
|
* @param param_count Total number of onboard parameters
|
|
* @param param_index Index of this onboard parameter
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index)
|
|
{
|
|
uint16_t i = 0;
|
|
msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
|
|
|
|
i += put_array_by_index(param_id, 15, i, msg->payload); //Onboard parameter id
|
|
i += put_float_by_index(param_value, i, msg->payload); //Onboard parameter value
|
|
i += put_uint16_t_by_index(param_count, i, msg->payload); //Total number of onboard parameters
|
|
i += put_uint16_t_by_index(param_index, i, msg->payload); //Index of this onboard parameter
|
|
|
|
return mavlink_finalize_message(msg, system_id, component_id, i);
|
|
}
|
|
|
|
static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index)
|
|
{
|
|
uint16_t i = 0;
|
|
msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
|
|
|
|
i += put_array_by_index(param_id, 15, i, msg->payload); //Onboard parameter id
|
|
i += put_float_by_index(param_value, i, msg->payload); //Onboard parameter value
|
|
i += put_uint16_t_by_index(param_count, i, msg->payload); //Total number of onboard parameters
|
|
i += put_uint16_t_by_index(param_index, i, msg->payload); //Index of this onboard parameter
|
|
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
|
|
}
|
|
|
|
static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_value_t* param_value)
|
|
{
|
|
return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_count, param_value->param_index);
|
|
}
|
|
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index)
|
|
{
|
|
mavlink_message_t msg;
|
|
mavlink_msg_param_value_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, param_id, param_value, param_count, param_index);
|
|
mavlink_send_uart(chan, &msg);
|
|
}
|
|
|
|
#endif
|
|
// MESSAGE PARAM_VALUE UNPACKING
|
|
|
|
/**
|
|
* @brief Get field param_id from param_value message
|
|
*
|
|
* @return Onboard parameter id
|
|
*/
|
|
static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, int8_t* r_data)
|
|
{
|
|
|
|
memcpy(r_data, msg->payload, 15);
|
|
return 15;
|
|
}
|
|
|
|
/**
|
|
* @brief Get field param_value from param_value message
|
|
*
|
|
* @return Onboard parameter value
|
|
*/
|
|
static inline float mavlink_msg_param_value_get_param_value(const mavlink_message_t* msg)
|
|
{
|
|
generic_32bit r;
|
|
r.b[3] = (msg->payload+15)[0];
|
|
r.b[2] = (msg->payload+15)[1];
|
|
r.b[1] = (msg->payload+15)[2];
|
|
r.b[0] = (msg->payload+15)[3];
|
|
return (float)r.f;
|
|
}
|
|
|
|
/**
|
|
* @brief Get field param_count from param_value message
|
|
*
|
|
* @return Total number of onboard parameters
|
|
*/
|
|
static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_message_t* msg)
|
|
{
|
|
generic_16bit r;
|
|
r.b[1] = (msg->payload+15+sizeof(float))[0];
|
|
r.b[0] = (msg->payload+15+sizeof(float))[1];
|
|
return (uint16_t)r.s;
|
|
}
|
|
|
|
/**
|
|
* @brief Get field param_index from param_value message
|
|
*
|
|
* @return Index of this onboard parameter
|
|
*/
|
|
static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_message_t* msg)
|
|
{
|
|
generic_16bit r;
|
|
r.b[1] = (msg->payload+15+sizeof(float)+sizeof(uint16_t))[0];
|
|
r.b[0] = (msg->payload+15+sizeof(float)+sizeof(uint16_t))[1];
|
|
return (uint16_t)r.s;
|
|
}
|
|
|
|
static inline void mavlink_msg_param_value_decode(const mavlink_message_t* msg, mavlink_param_value_t* param_value)
|
|
{
|
|
mavlink_msg_param_value_get_param_id(msg, param_value->param_id);
|
|
param_value->param_value = mavlink_msg_param_value_get_param_value(msg);
|
|
param_value->param_count = mavlink_msg_param_value_get_param_count(msg);
|
|
param_value->param_index = mavlink_msg_param_value_get_param_index(msg);
|
|
}
|