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
255 lines
8.2 KiB
C
255 lines
8.2 KiB
C
// MESSAGE VFR_HUD PACKING
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#define MAVLINK_MSG_ID_VFR_HUD 74
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typedef struct __mavlink_vfr_hud_t
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{
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float airspeed; ///< Current airspeed in m/s
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float groundspeed; ///< Current ground speed in m/s
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int16_t heading; ///< Current heading in degrees, in compass units (0..360, 0=north)
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uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100
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float alt; ///< Current altitude (MSL), in meters
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float climb; ///< Current climb rate in meters/second
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} mavlink_vfr_hud_t;
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#define MAVLINK_MSG_ID_VFR_HUD_LEN 20
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#define MAVLINK_MSG_ID_74_LEN 20
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#define MAVLINK_MESSAGE_INFO_VFR_HUD { \
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"VFR_HUD", \
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6, \
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{ { "airspeed", MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_vfr_hud_t, airspeed) }, \
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{ "groundspeed", MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_vfr_hud_t, groundspeed) }, \
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{ "heading", MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_vfr_hud_t, heading) }, \
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{ "throttle", MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_vfr_hud_t, throttle) }, \
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{ "alt", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vfr_hud_t, alt) }, \
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{ "climb", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vfr_hud_t, climb) }, \
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} \
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}
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/**
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* @brief Pack a vfr_hud 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 airspeed Current airspeed in m/s
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* @param groundspeed Current ground speed in m/s
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* @param heading Current heading in degrees, in compass units (0..360, 0=north)
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* @param throttle Current throttle setting in integer percent, 0 to 100
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* @param alt Current altitude (MSL), in meters
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* @param climb Current climb rate in meters/second
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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_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[20];
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_mav_put_float(buf, 0, airspeed);
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_mav_put_float(buf, 4, groundspeed);
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_mav_put_int16_t(buf, 8, heading);
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_mav_put_uint16_t(buf, 10, throttle);
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_mav_put_float(buf, 12, alt);
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_mav_put_float(buf, 16, climb);
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memcpy(_MAV_PAYLOAD(msg), buf, 20);
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#else
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mavlink_vfr_hud_t packet;
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packet.airspeed = airspeed;
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packet.groundspeed = groundspeed;
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packet.heading = heading;
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packet.throttle = throttle;
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packet.alt = alt;
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packet.climb = climb;
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memcpy(_MAV_PAYLOAD(msg), &packet, 20);
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#endif
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msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
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return mavlink_finalize_message(msg, system_id, component_id, 20);
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}
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/**
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* @brief Pack a vfr_hud 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 airspeed Current airspeed in m/s
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* @param groundspeed Current ground speed in m/s
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* @param heading Current heading in degrees, in compass units (0..360, 0=north)
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* @param throttle Current throttle setting in integer percent, 0 to 100
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* @param alt Current altitude (MSL), in meters
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* @param climb Current climb rate in meters/second
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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_vfr_hud_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 airspeed,float groundspeed,int16_t heading,uint16_t throttle,float alt,float climb)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[20];
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_mav_put_float(buf, 0, airspeed);
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_mav_put_float(buf, 4, groundspeed);
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_mav_put_int16_t(buf, 8, heading);
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_mav_put_uint16_t(buf, 10, throttle);
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_mav_put_float(buf, 12, alt);
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_mav_put_float(buf, 16, climb);
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memcpy(_MAV_PAYLOAD(msg), buf, 20);
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#else
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mavlink_vfr_hud_t packet;
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packet.airspeed = airspeed;
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packet.groundspeed = groundspeed;
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packet.heading = heading;
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packet.throttle = throttle;
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packet.alt = alt;
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packet.climb = climb;
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memcpy(_MAV_PAYLOAD(msg), &packet, 20);
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#endif
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msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20);
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}
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/**
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* @brief Encode a vfr_hud 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 vfr_hud C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_vfr_hud_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud)
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{
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return mavlink_msg_vfr_hud_pack(system_id, component_id, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb);
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}
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/**
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* @brief Send a vfr_hud message
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* @param chan MAVLink channel to send the message
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*
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* @param airspeed Current airspeed in m/s
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* @param groundspeed Current ground speed in m/s
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* @param heading Current heading in degrees, in compass units (0..360, 0=north)
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* @param throttle Current throttle setting in integer percent, 0 to 100
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* @param alt Current altitude (MSL), in meters
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* @param climb Current climb rate in meters/second
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[20];
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_mav_put_float(buf, 0, airspeed);
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_mav_put_float(buf, 4, groundspeed);
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_mav_put_int16_t(buf, 8, heading);
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_mav_put_uint16_t(buf, 10, throttle);
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_mav_put_float(buf, 12, alt);
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_mav_put_float(buf, 16, climb);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, 20);
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#else
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mavlink_vfr_hud_t packet;
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packet.airspeed = airspeed;
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packet.groundspeed = groundspeed;
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packet.heading = heading;
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packet.throttle = throttle;
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packet.alt = alt;
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packet.climb = climb;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)&packet, 20);
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#endif
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}
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#endif
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// MESSAGE VFR_HUD UNPACKING
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/**
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* @brief Get field airspeed from vfr_hud message
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*
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* @return Current airspeed in m/s
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*/
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static inline float mavlink_msg_vfr_hud_get_airspeed(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 groundspeed from vfr_hud message
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*
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* @return Current ground speed in m/s
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*/
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static inline float mavlink_msg_vfr_hud_get_groundspeed(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 heading from vfr_hud message
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*
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* @return Current heading in degrees, in compass units (0..360, 0=north)
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*/
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static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int16_t(msg, 8);
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}
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/**
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* @brief Get field throttle from vfr_hud message
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*
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* @return Current throttle setting in integer percent, 0 to 100
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*/
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static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 10);
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}
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/**
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* @brief Get field alt from vfr_hud message
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*
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* @return Current altitude (MSL), in meters
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*/
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static inline float mavlink_msg_vfr_hud_get_alt(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 Get field climb from vfr_hud message
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*
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* @return Current climb rate in meters/second
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*/
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static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Decode a vfr_hud message into a struct
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*
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* @param msg The message to decode
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* @param vfr_hud C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_vfr_hud_decode(const mavlink_message_t* msg, mavlink_vfr_hud_t* vfr_hud)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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vfr_hud->airspeed = mavlink_msg_vfr_hud_get_airspeed(msg);
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vfr_hud->groundspeed = mavlink_msg_vfr_hud_get_groundspeed(msg);
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vfr_hud->heading = mavlink_msg_vfr_hud_get_heading(msg);
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vfr_hud->throttle = mavlink_msg_vfr_hud_get_throttle(msg);
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vfr_hud->alt = mavlink_msg_vfr_hud_get_alt(msg);
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vfr_hud->climb = mavlink_msg_vfr_hud_get_climb(msg);
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#else
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memcpy(vfr_hud, _MAV_PAYLOAD(msg), 20);
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#endif
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}
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