ca8141cfb6
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
277 lines
9.5 KiB
C
277 lines
9.5 KiB
C
// MESSAGE HIL_CONTROLS PACKING
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#define MAVLINK_MSG_ID_HIL_CONTROLS 68
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typedef struct __mavlink_hil_controls_t
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{
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uint64_t time_us; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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float roll_ailerons; ///< Control output -3 .. 1
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float pitch_elevator; ///< Control output -1 .. 1
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float yaw_rudder; ///< Control output -1 .. 1
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float throttle; ///< Throttle 0 .. 1
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uint8_t mode; ///< System mode (MAV_MODE)
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uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE)
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} mavlink_hil_controls_t;
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#define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 26
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#define MAVLINK_MSG_ID_68_LEN 26
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#define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \
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"HIL_CONTROLS", \
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7, \
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{ { "time_us", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_us) }, \
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{ "roll_ailerons", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \
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{ "pitch_elevator", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \
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{ "yaw_rudder", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \
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{ "throttle", MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \
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{ "mode", MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_hil_controls_t, mode) }, \
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{ "nav_mode", MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_hil_controls_t, nav_mode) }, \
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} \
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}
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/**
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* @brief Pack a hil_controls 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 time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @param roll_ailerons Control output -3 .. 1
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* @param pitch_elevator Control output -1 .. 1
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* @param yaw_rudder Control output -1 .. 1
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* @param throttle Throttle 0 .. 1
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* @param mode System mode (MAV_MODE)
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* @param nav_mode Navigation mode (MAV_NAV_MODE)
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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_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[26];
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_mav_put_uint64_t(buf, 0, time_us);
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_mav_put_float(buf, 8, roll_ailerons);
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_mav_put_float(buf, 12, pitch_elevator);
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_mav_put_float(buf, 16, yaw_rudder);
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_mav_put_float(buf, 20, throttle);
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_mav_put_uint8_t(buf, 24, mode);
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_mav_put_uint8_t(buf, 25, nav_mode);
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memcpy(_MAV_PAYLOAD(msg), buf, 26);
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#else
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mavlink_hil_controls_t packet;
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packet.time_us = time_us;
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packet.roll_ailerons = roll_ailerons;
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packet.pitch_elevator = pitch_elevator;
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packet.yaw_rudder = yaw_rudder;
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packet.throttle = throttle;
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packet.mode = mode;
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packet.nav_mode = nav_mode;
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memcpy(_MAV_PAYLOAD(msg), &packet, 26);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
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return mavlink_finalize_message(msg, system_id, component_id, 26);
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}
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/**
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* @brief Pack a hil_controls 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 time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @param roll_ailerons Control output -3 .. 1
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* @param pitch_elevator Control output -1 .. 1
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* @param yaw_rudder Control output -1 .. 1
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* @param throttle Throttle 0 .. 1
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* @param mode System mode (MAV_MODE)
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* @param nav_mode Navigation mode (MAV_NAV_MODE)
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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_hil_controls_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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uint64_t time_us,float roll_ailerons,float pitch_elevator,float yaw_rudder,float throttle,uint8_t mode,uint8_t nav_mode)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[26];
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_mav_put_uint64_t(buf, 0, time_us);
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_mav_put_float(buf, 8, roll_ailerons);
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_mav_put_float(buf, 12, pitch_elevator);
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_mav_put_float(buf, 16, yaw_rudder);
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_mav_put_float(buf, 20, throttle);
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_mav_put_uint8_t(buf, 24, mode);
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_mav_put_uint8_t(buf, 25, nav_mode);
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memcpy(_MAV_PAYLOAD(msg), buf, 26);
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#else
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mavlink_hil_controls_t packet;
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packet.time_us = time_us;
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packet.roll_ailerons = roll_ailerons;
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packet.pitch_elevator = pitch_elevator;
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packet.yaw_rudder = yaw_rudder;
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packet.throttle = throttle;
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packet.mode = mode;
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packet.nav_mode = nav_mode;
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memcpy(_MAV_PAYLOAD(msg), &packet, 26);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26);
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}
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/**
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* @brief Encode a hil_controls 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 hil_controls C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls)
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{
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return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_us, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->mode, hil_controls->nav_mode);
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}
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/**
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* @brief Send a hil_controls message
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* @param chan MAVLink channel to send the message
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*
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* @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @param roll_ailerons Control output -3 .. 1
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* @param pitch_elevator Control output -1 .. 1
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* @param yaw_rudder Control output -1 .. 1
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* @param throttle Throttle 0 .. 1
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* @param mode System mode (MAV_MODE)
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* @param nav_mode Navigation mode (MAV_NAV_MODE)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[26];
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_mav_put_uint64_t(buf, 0, time_us);
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_mav_put_float(buf, 8, roll_ailerons);
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_mav_put_float(buf, 12, pitch_elevator);
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_mav_put_float(buf, 16, yaw_rudder);
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_mav_put_float(buf, 20, throttle);
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_mav_put_uint8_t(buf, 24, mode);
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_mav_put_uint8_t(buf, 25, nav_mode);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, 26);
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#else
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mavlink_hil_controls_t packet;
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packet.time_us = time_us;
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packet.roll_ailerons = roll_ailerons;
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packet.pitch_elevator = pitch_elevator;
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packet.yaw_rudder = yaw_rudder;
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packet.throttle = throttle;
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packet.mode = mode;
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packet.nav_mode = nav_mode;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, 26);
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#endif
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}
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#endif
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// MESSAGE HIL_CONTROLS UNPACKING
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/**
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* @brief Get field time_us from hil_controls message
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*
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* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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*/
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static inline uint64_t mavlink_msg_hil_controls_get_time_us(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field roll_ailerons from hil_controls message
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*
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* @return Control output -3 .. 1
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*/
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static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field pitch_elevator from hil_controls message
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*
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* @return Control output -1 .. 1
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*/
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static inline float mavlink_msg_hil_controls_get_pitch_elevator(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 yaw_rudder from hil_controls message
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*
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* @return Control output -1 .. 1
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*/
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static inline float mavlink_msg_hil_controls_get_yaw_rudder(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 Get field throttle from hil_controls message
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*
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* @return Throttle 0 .. 1
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*/
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static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 20);
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}
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/**
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* @brief Get field mode from hil_controls message
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*
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* @return System mode (MAV_MODE)
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*/
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static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 24);
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}
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/**
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* @brief Get field nav_mode from hil_controls message
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*
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* @return Navigation mode (MAV_NAV_MODE)
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*/
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static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 25);
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}
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/**
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* @brief Decode a hil_controls message into a struct
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*
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* @param msg The message to decode
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* @param hil_controls C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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hil_controls->time_us = mavlink_msg_hil_controls_get_time_us(msg);
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hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg);
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hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg);
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hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg);
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hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg);
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hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg);
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hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg);
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#else
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memcpy(hil_controls, _MAV_PAYLOAD(msg), 26);
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#endif
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}
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