a37d1ddb91
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1015 f9c3cf11-9bcb-44bc-f272-b75c42450872
135 lines
4.4 KiB
C
135 lines
4.4 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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/**
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* @brief Send a position_target 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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* @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, float x, float y, float z, float yaw)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;
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i += put_float_by_index(x, i, msg->payload); //x position
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i += put_float_by_index(y, i, msg->payload); //y position
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i += put_float_by_index(z, i, msg->payload); //z position
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i += put_float_by_index(yaw, i, msg->payload); //yaw orientation in radians, 0 = NORTH
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return mavlink_finalize_message(msg, system_id, component_id, i);
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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, mavlink_message_t* msg, float x, float y, float z, float yaw)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;
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i += put_float_by_index(x, i, msg->payload); //x position
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i += put_float_by_index(y, i, msg->payload); //y position
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i += put_float_by_index(z, i, msg->payload); //z position
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i += put_float_by_index(yaw, i, msg->payload); //yaw orientation in radians, 0 = NORTH
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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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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#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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mavlink_message_t msg;
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mavlink_msg_position_target_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, x, y, z, yaw);
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mavlink_send_uart(chan, &msg);
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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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generic_32bit r;
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r.b[3] = (msg->payload)[0];
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r.b[2] = (msg->payload)[1];
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r.b[1] = (msg->payload)[2];
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r.b[0] = (msg->payload)[3];
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return (float)r.f;
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(float))[3];
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return (float)r.f;
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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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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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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}
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