eefb840a85
thanks to Randy for spotting this git-svn-id: https://arducopter.googlecode.com/svn/trunk@3086 f9c3cf11-9bcb-44bc-f272-b75c42450872
233 lines
9.3 KiB
C
233 lines
9.3 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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/**
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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, 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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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
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i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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i += put_float_by_index(roll_ailerons, i, msg->payload); // Control output -3 .. 1
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i += put_float_by_index(pitch_elevator, i, msg->payload); // Control output -1 .. 1
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i += put_float_by_index(yaw_rudder, i, msg->payload); // Control output -1 .. 1
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i += put_float_by_index(throttle, i, msg->payload); // Throttle 0 .. 1
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i += put_uint8_t_by_index(mode, i, msg->payload); // System mode (MAV_MODE)
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i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode (MAV_NAV_MODE)
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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 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 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, mavlink_message_t* msg, 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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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
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i += put_uint64_t_by_index(time_us, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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i += put_float_by_index(roll_ailerons, i, msg->payload); // Control output -3 .. 1
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i += put_float_by_index(pitch_elevator, i, msg->payload); // Control output -1 .. 1
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i += put_float_by_index(yaw_rudder, i, msg->payload); // Control output -1 .. 1
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i += put_float_by_index(throttle, i, msg->payload); // Throttle 0 .. 1
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i += put_uint8_t_by_index(mode, i, msg->payload); // System mode (MAV_MODE)
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i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode (MAV_NAV_MODE)
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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 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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mavlink_message_t msg;
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mavlink_msg_hil_controls_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode);
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mavlink_send_uart(chan, &msg);
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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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generic_64bit r;
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r.b[7] = (msg->payload)[0];
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r.b[6] = (msg->payload)[1];
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r.b[5] = (msg->payload)[2];
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r.b[4] = (msg->payload)[3];
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r.b[3] = (msg->payload)[4];
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r.b[2] = (msg->payload)[5];
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r.b[1] = (msg->payload)[6];
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r.b[0] = (msg->payload)[7];
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return (uint64_t)r.ll;
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t))[2];
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r.b[0] = (msg->payload+sizeof(uint64_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_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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_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_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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_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 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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_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 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 (uint8_t)(msg->payload+sizeof(uint64_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 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 (uint8_t)(msg->payload+sizeof(uint64_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 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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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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}
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