cbdf462acc
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1494 f9c3cf11-9bcb-44bc-f272-b75c42450872
136 lines
4.6 KiB
C
136 lines
4.6 KiB
C
// MESSAGE WAYPOINT_ACK PACKING
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#define MAVLINK_MSG_ID_WAYPOINT_ACK 47
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typedef struct __mavlink_waypoint_ack_t
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{
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uint8_t target_system; ///< System ID
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uint8_t target_component; ///< Component ID
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uint8_t type; ///< 0: OK, 1: Error
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} mavlink_waypoint_ack_t;
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/**
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* @brief Pack a waypoint_ack 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 target_system System ID
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* @param target_component Component ID
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* @param type 0: OK, 1: Error
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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_waypoint_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t type)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_WAYPOINT_ACK;
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i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
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i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
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i += put_uint8_t_by_index(type, i, msg->payload); // 0: OK, 1: Error
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return mavlink_finalize_message(msg, system_id, component_id, i);
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}
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/**
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* @brief Pack a waypoint_ack 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 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 target_system System ID
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* @param target_component Component ID
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* @param type 0: OK, 1: Error
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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_waypoint_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t type)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_WAYPOINT_ACK;
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i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
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i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
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i += put_uint8_t_by_index(type, i, msg->payload); // 0: OK, 1: Error
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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}
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/**
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* @brief Encode a waypoint_ack 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 waypoint_ack C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_waypoint_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_ack_t* waypoint_ack)
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{
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return mavlink_msg_waypoint_ack_pack(system_id, component_id, msg, waypoint_ack->target_system, waypoint_ack->target_component, waypoint_ack->type);
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}
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/**
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* @brief Send a waypoint_ack message
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* @param chan MAVLink channel to send the message
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*
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* @param target_system System ID
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* @param target_component Component ID
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* @param type 0: OK, 1: Error
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_waypoint_ack_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t type)
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{
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mavlink_message_t msg;
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mavlink_msg_waypoint_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, type);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE WAYPOINT_ACK UNPACKING
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/**
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* @brief Get field target_system from waypoint_ack message
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*
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* @return System ID
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*/
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static inline uint8_t mavlink_msg_waypoint_ack_get_target_system(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 target_component from waypoint_ack message
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*
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* @return Component ID
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*/
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static inline uint8_t mavlink_msg_waypoint_ack_get_target_component(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
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}
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/**
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* @brief Get field type from waypoint_ack message
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*
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* @return 0: OK, 1: Error
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*/
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static inline uint8_t mavlink_msg_waypoint_ack_get_type(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
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}
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/**
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* @brief Decode a waypoint_ack message into a struct
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*
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* @param msg The message to decode
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* @param waypoint_ack C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_waypoint_ack_decode(const mavlink_message_t* msg, mavlink_waypoint_ack_t* waypoint_ack)
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{
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waypoint_ack->target_system = mavlink_msg_waypoint_ack_get_target_system(msg);
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waypoint_ack->target_component = mavlink_msg_waypoint_ack_get_target_component(msg);
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waypoint_ack->type = mavlink_msg_waypoint_ack_get_type(msg);
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}
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