a37d1ddb91
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1015 f9c3cf11-9bcb-44bc-f272-b75c42450872
210 lines
8.4 KiB
C
210 lines
8.4 KiB
C
// MESSAGE ATTITUDE_CONTROL PACKING
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#define MAVLINK_MSG_ID_ATTITUDE_CONTROL 85
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typedef struct __mavlink_attitude_control_t
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{
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uint8_t target; ///< The system to be controlled
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float roll; ///< roll
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float pitch; ///< pitch
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float yaw; ///< yaw
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float thrust; ///< thrust
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uint8_t roll_manual; ///< roll control enabled auto:0, manual:1
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uint8_t pitch_manual; ///< pitch auto:0, manual:1
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uint8_t yaw_manual; ///< yaw auto:0, manual:1
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uint8_t thrust_manual; ///< thrust auto:0, manual:1
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} mavlink_attitude_control_t;
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/**
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* @brief Send a attitude_control message
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*
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* @param target The system to be controlled
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* @param roll roll
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* @param pitch pitch
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* @param yaw yaw
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* @param thrust thrust
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* @param roll_manual roll control enabled auto:0, manual:1
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* @param pitch_manual pitch auto:0, manual:1
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* @param yaw_manual yaw auto:0, manual:1
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* @param thrust_manual thrust auto:0, manual:1
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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_attitude_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL;
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i += put_uint8_t_by_index(target, i, msg->payload); //The system to be controlled
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i += put_float_by_index(roll, i, msg->payload); //roll
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i += put_float_by_index(pitch, i, msg->payload); //pitch
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i += put_float_by_index(yaw, i, msg->payload); //yaw
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i += put_float_by_index(thrust, i, msg->payload); //thrust
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i += put_uint8_t_by_index(roll_manual, i, msg->payload); //roll control enabled auto:0, manual:1
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i += put_uint8_t_by_index(pitch_manual, i, msg->payload); //pitch auto:0, manual:1
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i += put_uint8_t_by_index(yaw_manual, i, msg->payload); //yaw auto:0, manual:1
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i += put_uint8_t_by_index(thrust_manual, i, msg->payload); //thrust auto:0, manual:1
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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_attitude_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL;
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i += put_uint8_t_by_index(target, i, msg->payload); //The system to be controlled
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i += put_float_by_index(roll, i, msg->payload); //roll
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i += put_float_by_index(pitch, i, msg->payload); //pitch
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i += put_float_by_index(yaw, i, msg->payload); //yaw
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i += put_float_by_index(thrust, i, msg->payload); //thrust
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i += put_uint8_t_by_index(roll_manual, i, msg->payload); //roll control enabled auto:0, manual:1
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i += put_uint8_t_by_index(pitch_manual, i, msg->payload); //pitch auto:0, manual:1
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i += put_uint8_t_by_index(yaw_manual, i, msg->payload); //yaw auto:0, manual:1
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i += put_uint8_t_by_index(thrust_manual, i, msg->payload); //thrust auto:0, manual:1
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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_attitude_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_control_t* attitude_control)
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{
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return mavlink_msg_attitude_control_pack(system_id, component_id, msg, attitude_control->target, attitude_control->roll, attitude_control->pitch, attitude_control->yaw, attitude_control->thrust, attitude_control->roll_manual, attitude_control->pitch_manual, attitude_control->yaw_manual, attitude_control->thrust_manual);
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}
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_attitude_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
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{
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mavlink_message_t msg;
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mavlink_msg_attitude_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE ATTITUDE_CONTROL UNPACKING
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/**
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* @brief Get field target from attitude_control message
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*
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* @return The system to be controlled
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*/
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static inline uint8_t mavlink_msg_attitude_control_get_target(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload)[0];
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}
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/**
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* @brief Get field roll from attitude_control message
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*
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* @return roll
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*/
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static inline float mavlink_msg_attitude_control_get_roll(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(uint8_t))[0];
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r.b[2] = (msg->payload+sizeof(uint8_t))[1];
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r.b[1] = (msg->payload+sizeof(uint8_t))[2];
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r.b[0] = (msg->payload+sizeof(uint8_t))[3];
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return (float)r.f;
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}
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/**
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* @brief Get field pitch from attitude_control message
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*
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* @return pitch
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*/
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static inline float mavlink_msg_attitude_control_get_pitch(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(uint8_t)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint8_t)+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 attitude_control message
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*
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* @return yaw
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*/
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static inline float mavlink_msg_attitude_control_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(uint8_t)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint8_t)+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 thrust from attitude_control message
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*
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* @return thrust
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*/
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static inline float mavlink_msg_attitude_control_get_thrust(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(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+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 roll_manual from attitude_control message
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*
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* @return roll control enabled auto:0, manual:1
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*/
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static inline uint8_t mavlink_msg_attitude_control_get_roll_manual(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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}
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/**
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* @brief Get field pitch_manual from attitude_control message
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*
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* @return pitch auto:0, manual:1
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*/
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static inline uint8_t mavlink_msg_attitude_control_get_pitch_manual(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0];
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}
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/**
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* @brief Get field yaw_manual from attitude_control message
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*
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* @return yaw auto:0, manual:1
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*/
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static inline uint8_t mavlink_msg_attitude_control_get_yaw_manual(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint8_t))[0];
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}
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/**
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* @brief Get field thrust_manual from attitude_control message
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*
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* @return thrust auto:0, manual:1
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*/
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static inline uint8_t mavlink_msg_attitude_control_get_thrust_manual(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
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}
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static inline void mavlink_msg_attitude_control_decode(const mavlink_message_t* msg, mavlink_attitude_control_t* attitude_control)
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{
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attitude_control->target = mavlink_msg_attitude_control_get_target(msg);
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attitude_control->roll = mavlink_msg_attitude_control_get_roll(msg);
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attitude_control->pitch = mavlink_msg_attitude_control_get_pitch(msg);
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attitude_control->yaw = mavlink_msg_attitude_control_get_yaw(msg);
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attitude_control->thrust = mavlink_msg_attitude_control_get_thrust(msg);
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attitude_control->roll_manual = mavlink_msg_attitude_control_get_roll_manual(msg);
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attitude_control->pitch_manual = mavlink_msg_attitude_control_get_pitch_manual(msg);
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attitude_control->yaw_manual = mavlink_msg_attitude_control_get_yaw_manual(msg);
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attitude_control->thrust_manual = mavlink_msg_attitude_control_get_thrust_manual(msg);
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}
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