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
299 lines
12 KiB
C
299 lines
12 KiB
C
// MESSAGE CONTROL_STATUS PACKING
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#define MAVLINK_MSG_ID_CONTROL_STATUS 52
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typedef struct __mavlink_control_status_t
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{
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uint8_t position_fix; ///< Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
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uint8_t vision_fix; ///< Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
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uint8_t gps_fix; ///< GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
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uint8_t ahrs_health; ///< Attitude estimation health: 0: poor, 255: excellent
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uint8_t control_att; ///< 0: Attitude control disabled, 1: enabled
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uint8_t control_pos_xy; ///< 0: X, Y position control disabled, 1: enabled
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uint8_t control_pos_z; ///< 0: Z position control disabled, 1: enabled
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uint8_t control_pos_yaw; ///< 0: Yaw angle control disabled, 1: enabled
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} mavlink_control_status_t;
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#define MAVLINK_MSG_ID_CONTROL_STATUS_LEN 8
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#define MAVLINK_MSG_ID_52_LEN 8
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#define MAVLINK_MESSAGE_INFO_CONTROL_STATUS { \
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"CONTROL_STATUS", \
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8, \
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{ { "position_fix", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_control_status_t, position_fix) }, \
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{ "vision_fix", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_control_status_t, vision_fix) }, \
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{ "gps_fix", MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_control_status_t, gps_fix) }, \
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{ "ahrs_health", MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_control_status_t, ahrs_health) }, \
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{ "control_att", MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_control_status_t, control_att) }, \
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{ "control_pos_xy", MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_control_status_t, control_pos_xy) }, \
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{ "control_pos_z", MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_control_status_t, control_pos_z) }, \
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{ "control_pos_yaw", MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_control_status_t, control_pos_yaw) }, \
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} \
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}
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/**
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* @brief Pack a control_status 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 position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
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* @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
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* @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
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* @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
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* @param control_att 0: Attitude control disabled, 1: enabled
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* @param control_pos_xy 0: X, Y position control disabled, 1: enabled
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* @param control_pos_z 0: Z position control disabled, 1: enabled
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* @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
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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_control_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[8];
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_mav_put_uint8_t(buf, 0, position_fix);
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_mav_put_uint8_t(buf, 1, vision_fix);
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_mav_put_uint8_t(buf, 2, gps_fix);
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_mav_put_uint8_t(buf, 3, ahrs_health);
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_mav_put_uint8_t(buf, 4, control_att);
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_mav_put_uint8_t(buf, 5, control_pos_xy);
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_mav_put_uint8_t(buf, 6, control_pos_z);
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_mav_put_uint8_t(buf, 7, control_pos_yaw);
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memcpy(_MAV_PAYLOAD(msg), buf, 8);
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#else
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mavlink_control_status_t packet;
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packet.position_fix = position_fix;
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packet.vision_fix = vision_fix;
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packet.gps_fix = gps_fix;
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packet.ahrs_health = ahrs_health;
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packet.control_att = control_att;
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packet.control_pos_xy = control_pos_xy;
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packet.control_pos_z = control_pos_z;
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packet.control_pos_yaw = control_pos_yaw;
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memcpy(_MAV_PAYLOAD(msg), &packet, 8);
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#endif
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msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
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return mavlink_finalize_message(msg, system_id, component_id, 8);
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}
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/**
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* @brief Pack a control_status 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 position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
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* @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
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* @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
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* @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
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* @param control_att 0: Attitude control disabled, 1: enabled
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* @param control_pos_xy 0: X, Y position control disabled, 1: enabled
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* @param control_pos_z 0: Z position control disabled, 1: enabled
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* @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
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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_control_status_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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uint8_t position_fix,uint8_t vision_fix,uint8_t gps_fix,uint8_t ahrs_health,uint8_t control_att,uint8_t control_pos_xy,uint8_t control_pos_z,uint8_t control_pos_yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[8];
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_mav_put_uint8_t(buf, 0, position_fix);
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_mav_put_uint8_t(buf, 1, vision_fix);
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_mav_put_uint8_t(buf, 2, gps_fix);
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_mav_put_uint8_t(buf, 3, ahrs_health);
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_mav_put_uint8_t(buf, 4, control_att);
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_mav_put_uint8_t(buf, 5, control_pos_xy);
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_mav_put_uint8_t(buf, 6, control_pos_z);
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_mav_put_uint8_t(buf, 7, control_pos_yaw);
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memcpy(_MAV_PAYLOAD(msg), buf, 8);
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#else
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mavlink_control_status_t packet;
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packet.position_fix = position_fix;
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packet.vision_fix = vision_fix;
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packet.gps_fix = gps_fix;
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packet.ahrs_health = ahrs_health;
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packet.control_att = control_att;
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packet.control_pos_xy = control_pos_xy;
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packet.control_pos_z = control_pos_z;
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packet.control_pos_yaw = control_pos_yaw;
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memcpy(_MAV_PAYLOAD(msg), &packet, 8);
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#endif
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msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8);
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}
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/**
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* @brief Encode a control_status 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 control_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_control_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_status_t* control_status)
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{
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return mavlink_msg_control_status_pack(system_id, component_id, msg, control_status->position_fix, control_status->vision_fix, control_status->gps_fix, control_status->ahrs_health, control_status->control_att, control_status->control_pos_xy, control_status->control_pos_z, control_status->control_pos_yaw);
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}
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/**
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* @brief Send a control_status message
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* @param chan MAVLink channel to send the message
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*
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* @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
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* @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
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* @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
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* @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
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* @param control_att 0: Attitude control disabled, 1: enabled
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* @param control_pos_xy 0: X, Y position control disabled, 1: enabled
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* @param control_pos_z 0: Z position control disabled, 1: enabled
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* @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_control_status_send(mavlink_channel_t chan, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[8];
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_mav_put_uint8_t(buf, 0, position_fix);
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_mav_put_uint8_t(buf, 1, vision_fix);
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_mav_put_uint8_t(buf, 2, gps_fix);
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_mav_put_uint8_t(buf, 3, ahrs_health);
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_mav_put_uint8_t(buf, 4, control_att);
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_mav_put_uint8_t(buf, 5, control_pos_xy);
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_mav_put_uint8_t(buf, 6, control_pos_z);
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_mav_put_uint8_t(buf, 7, control_pos_yaw);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, buf, 8);
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#else
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mavlink_control_status_t packet;
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packet.position_fix = position_fix;
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packet.vision_fix = vision_fix;
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packet.gps_fix = gps_fix;
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packet.ahrs_health = ahrs_health;
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packet.control_att = control_att;
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packet.control_pos_xy = control_pos_xy;
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packet.control_pos_z = control_pos_z;
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packet.control_pos_yaw = control_pos_yaw;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, (const char *)&packet, 8);
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#endif
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}
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#endif
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// MESSAGE CONTROL_STATUS UNPACKING
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/**
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* @brief Get field position_fix from control_status message
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*
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* @return Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
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*/
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static inline uint8_t mavlink_msg_control_status_get_position_fix(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 0);
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}
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/**
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* @brief Get field vision_fix from control_status message
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*
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* @return Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
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*/
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static inline uint8_t mavlink_msg_control_status_get_vision_fix(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 1);
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}
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/**
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* @brief Get field gps_fix from control_status message
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*
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* @return GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
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*/
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static inline uint8_t mavlink_msg_control_status_get_gps_fix(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 2);
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}
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/**
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* @brief Get field ahrs_health from control_status message
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*
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* @return Attitude estimation health: 0: poor, 255: excellent
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*/
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static inline uint8_t mavlink_msg_control_status_get_ahrs_health(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 3);
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}
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/**
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* @brief Get field control_att from control_status message
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*
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* @return 0: Attitude control disabled, 1: enabled
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*/
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static inline uint8_t mavlink_msg_control_status_get_control_att(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 4);
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}
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/**
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* @brief Get field control_pos_xy from control_status message
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*
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* @return 0: X, Y position control disabled, 1: enabled
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*/
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static inline uint8_t mavlink_msg_control_status_get_control_pos_xy(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 5);
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}
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/**
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* @brief Get field control_pos_z from control_status message
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*
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* @return 0: Z position control disabled, 1: enabled
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*/
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static inline uint8_t mavlink_msg_control_status_get_control_pos_z(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 6);
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}
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/**
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* @brief Get field control_pos_yaw from control_status message
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*
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* @return 0: Yaw angle control disabled, 1: enabled
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*/
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static inline uint8_t mavlink_msg_control_status_get_control_pos_yaw(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 7);
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}
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/**
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* @brief Decode a control_status message into a struct
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*
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* @param msg The message to decode
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* @param control_status C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_control_status_decode(const mavlink_message_t* msg, mavlink_control_status_t* control_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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control_status->position_fix = mavlink_msg_control_status_get_position_fix(msg);
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control_status->vision_fix = mavlink_msg_control_status_get_vision_fix(msg);
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control_status->gps_fix = mavlink_msg_control_status_get_gps_fix(msg);
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control_status->ahrs_health = mavlink_msg_control_status_get_ahrs_health(msg);
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control_status->control_att = mavlink_msg_control_status_get_control_att(msg);
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control_status->control_pos_xy = mavlink_msg_control_status_get_control_pos_xy(msg);
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control_status->control_pos_z = mavlink_msg_control_status_get_control_pos_z(msg);
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control_status->control_pos_yaw = mavlink_msg_control_status_get_control_pos_yaw(msg);
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#else
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memcpy(control_status, _MAV_PAYLOAD(msg), 8);
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#endif
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}
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