a37d1ddb91
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1015 f9c3cf11-9bcb-44bc-f272-b75c42450872
123 lines
4.3 KiB
C
123 lines
4.3 KiB
C
// MESSAGE PARAM_SET PACKING
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#define MAVLINK_MSG_ID_PARAM_SET 23
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typedef struct __mavlink_param_set_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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int8_t param_id[15]; ///< Onboard parameter id
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float param_value; ///< Onboard parameter value
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} mavlink_param_set_t;
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#define MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN 15
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/**
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* @brief Send a param_set 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 param_id Onboard parameter id
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* @param param_value Onboard parameter value
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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_param_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_PARAM_SET;
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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_array_by_index(param_id, 15, i, msg->payload); //Onboard parameter id
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i += put_float_by_index(param_value, i, msg->payload); //Onboard parameter value
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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_param_set_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, const int8_t* param_id, float param_value)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_PARAM_SET;
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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_array_by_index(param_id, 15, i, msg->payload); //Onboard parameter id
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i += put_float_by_index(param_value, i, msg->payload); //Onboard parameter value
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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_param_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_set_t* param_set)
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{
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return mavlink_msg_param_set_pack(system_id, component_id, msg, param_set->target_system, param_set->target_component, param_set->param_id, param_set->param_value);
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}
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value)
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{
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mavlink_message_t msg;
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mavlink_msg_param_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, param_id, param_value);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE PARAM_SET UNPACKING
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/**
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* @brief Get field target_system from param_set 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_param_set_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 param_set 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_param_set_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 param_id from param_set message
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*
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* @return Onboard parameter id
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*/
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static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_t* msg, int8_t* r_data)
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{
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memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t), 15);
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return 15;
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}
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/**
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* @brief Get field param_value from param_set message
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*
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* @return Onboard parameter value
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*/
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static inline float mavlink_msg_param_set_get_param_value(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(uint8_t)+15)[0];
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r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[1];
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[2];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[3];
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return (float)r.f;
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}
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static inline void mavlink_msg_param_set_decode(const mavlink_message_t* msg, mavlink_param_set_t* param_set)
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{
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param_set->target_system = mavlink_msg_param_set_get_target_system(msg);
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param_set->target_component = mavlink_msg_param_set_get_target_component(msg);
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mavlink_msg_param_set_get_param_id(msg, param_set->param_id);
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param_set->param_value = mavlink_msg_param_set_get_param_value(msg);
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}
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