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Updated mavlink lib.

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This commit is contained in:
pienk@planet.nl
2013-08-05 19:59:03 +00:00
parent 306e3886d7
commit b130a8dbbd
47 changed files with 2128 additions and 9158 deletions
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src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_fenced_fetch_point.h
-144
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@@ -1,144 +0,0 @@
// MESSAGE FENCED_FETCH_POINT PACKING
#define MAVLINK_MSG_ID_FENCED_FETCH_POINT 161
typedef struct __mavlink_fenced_fetch_point_t
{
uint8_t idx; ///< point index (first point is 1, 0 is for return point)
} mavlink_fenced_fetch_point_t;
#define MAVLINK_MSG_ID_FENCED_FETCH_POINT_LEN 1
#define MAVLINK_MSG_ID_161_LEN 1
#define MAVLINK_MESSAGE_INFO_FENCED_FETCH_POINT { \
"FENCED_FETCH_POINT", \
1, \
{ { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fenced_fetch_point_t, idx) }, \
} \
}
/**
* @brief Pack a fenced_fetch_point message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param idx point index (first point is 1, 0 is for return point)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_fenced_fetch_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t idx)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[1];
_mav_put_uint8_t(buf, 0, idx);
memcpy(_MAV_PAYLOAD(msg), buf, 1);
#else
mavlink_fenced_fetch_point_t packet;
packet.idx = idx;
memcpy(_MAV_PAYLOAD(msg), &packet, 1);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCED_FETCH_POINT;
return mavlink_finalize_message(msg, system_id, component_id, 1, 33);
}
/**
* @brief Pack a fenced_fetch_point message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param idx point index (first point is 1, 0 is for return point)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_fenced_fetch_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t idx)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[1];
_mav_put_uint8_t(buf, 0, idx);
memcpy(_MAV_PAYLOAD(msg), buf, 1);
#else
mavlink_fenced_fetch_point_t packet;
packet.idx = idx;
memcpy(_MAV_PAYLOAD(msg), &packet, 1);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCED_FETCH_POINT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 1, 33);
}
/**
* @brief Encode a fenced_fetch_point struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param fenced_fetch_point C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_fenced_fetch_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fenced_fetch_point_t* fenced_fetch_point)
{
return mavlink_msg_fenced_fetch_point_pack(system_id, component_id, msg, fenced_fetch_point->idx);
}
/**
* @brief Send a fenced_fetch_point message
* @param chan MAVLink channel to send the message
*
* @param idx point index (first point is 1, 0 is for return point)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_fenced_fetch_point_send(mavlink_channel_t chan, uint8_t idx)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[1];
_mav_put_uint8_t(buf, 0, idx);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCED_FETCH_POINT, buf, 1, 33);
#else
mavlink_fenced_fetch_point_t packet;
packet.idx = idx;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCED_FETCH_POINT, (const char *)&packet, 1, 33);
#endif
}
#endif
// MESSAGE FENCED_FETCH_POINT UNPACKING
/**
* @brief Get field idx from fenced_fetch_point message
*
* @return point index (first point is 1, 0 is for return point)
*/
static inline uint8_t mavlink_msg_fenced_fetch_point_get_idx(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Decode a fenced_fetch_point message into a struct
*
* @param msg The message to decode
* @param fenced_fetch_point C-struct to decode the message contents into
*/
static inline void mavlink_msg_fenced_fetch_point_decode(const mavlink_message_t* msg, mavlink_fenced_fetch_point_t* fenced_fetch_point)
{
#if MAVLINK_NEED_BYTE_SWAP
fenced_fetch_point->idx = mavlink_msg_fenced_fetch_point_get_idx(msg);
#else
memcpy(fenced_fetch_point, _MAV_PAYLOAD(msg), 1);
#endif
}
src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_fenced_point.h
-210
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@@ -1,210 +0,0 @@
// MESSAGE FENCED_POINT PACKING
#define MAVLINK_MSG_ID_FENCED_POINT 160
typedef struct __mavlink_fenced_point_t
{
float lat; ///< Latitude of point
float lng; ///< Longitude of point
uint8_t idx; ///< point index (first point is 1, 0 is for return point)
uint8_t count; ///< total number of points (for sanity checking)
} mavlink_fenced_point_t;
#define MAVLINK_MSG_ID_FENCED_POINT_LEN 10
#define MAVLINK_MSG_ID_160_LEN 10
#define MAVLINK_MESSAGE_INFO_FENCED_POINT { \
"FENCED_POINT", \
4, \
{ { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_fenced_point_t, lat) }, \
{ "lng", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_fenced_point_t, lng) }, \
{ "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_fenced_point_t, idx) }, \
{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_fenced_point_t, count) }, \
} \
}
/**
* @brief Pack a fenced_point message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param idx point index (first point is 1, 0 is for return point)
* @param count total number of points (for sanity checking)
* @param lat Latitude of point
* @param lng Longitude of point
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_fenced_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t idx, uint8_t count, float lat, float lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[10];
_mav_put_float(buf, 0, lat);
_mav_put_float(buf, 4, lng);
_mav_put_uint8_t(buf, 8, idx);
_mav_put_uint8_t(buf, 9, count);
memcpy(_MAV_PAYLOAD(msg), buf, 10);
#else
mavlink_fenced_point_t packet;
packet.lat = lat;
packet.lng = lng;
packet.idx = idx;
packet.count = count;
memcpy(_MAV_PAYLOAD(msg), &packet, 10);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCED_POINT;
return mavlink_finalize_message(msg, system_id, component_id, 10, 225);
}
/**
* @brief Pack a fenced_point message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param idx point index (first point is 1, 0 is for return point)
* @param count total number of points (for sanity checking)
* @param lat Latitude of point
* @param lng Longitude of point
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_fenced_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t idx,uint8_t count,float lat,float lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[10];
_mav_put_float(buf, 0, lat);
_mav_put_float(buf, 4, lng);
_mav_put_uint8_t(buf, 8, idx);
_mav_put_uint8_t(buf, 9, count);
memcpy(_MAV_PAYLOAD(msg), buf, 10);
#else
mavlink_fenced_point_t packet;
packet.lat = lat;
packet.lng = lng;
packet.idx = idx;
packet.count = count;
memcpy(_MAV_PAYLOAD(msg), &packet, 10);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCED_POINT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 10, 225);
}
/**
* @brief Encode a fenced_point struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param fenced_point C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_fenced_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fenced_point_t* fenced_point)
{
return mavlink_msg_fenced_point_pack(system_id, component_id, msg, fenced_point->idx, fenced_point->count, fenced_point->lat, fenced_point->lng);
}
/**
* @brief Send a fenced_point message
* @param chan MAVLink channel to send the message
*
* @param idx point index (first point is 1, 0 is for return point)
* @param count total number of points (for sanity checking)
* @param lat Latitude of point
* @param lng Longitude of point
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_fenced_point_send(mavlink_channel_t chan, uint8_t idx, uint8_t count, float lat, float lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[10];
_mav_put_float(buf, 0, lat);
_mav_put_float(buf, 4, lng);
_mav_put_uint8_t(buf, 8, idx);
_mav_put_uint8_t(buf, 9, count);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCED_POINT, buf, 10, 225);
#else
mavlink_fenced_point_t packet;
packet.lat = lat;
packet.lng = lng;
packet.idx = idx;
packet.count = count;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCED_POINT, (const char *)&packet, 10, 225);
#endif
}
#endif
// MESSAGE FENCED_POINT UNPACKING
/**
* @brief Get field idx from fenced_point message
*
* @return point index (first point is 1, 0 is for return point)
*/
static inline uint8_t mavlink_msg_fenced_point_get_idx(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 8);
}
/**
* @brief Get field count from fenced_point message
*
* @return total number of points (for sanity checking)
*/
static inline uint8_t mavlink_msg_fenced_point_get_count(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 9);
}
/**
* @brief Get field lat from fenced_point message
*
* @return Latitude of point
*/
static inline float mavlink_msg_fenced_point_get_lat(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field lng from fenced_point message
*
* @return Longitude of point
*/
static inline float mavlink_msg_fenced_point_get_lng(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Decode a fenced_point message into a struct
*
* @param msg The message to decode
* @param fenced_point C-struct to decode the message contents into
*/
static inline void mavlink_msg_fenced_point_decode(const mavlink_message_t* msg, mavlink_fenced_point_t* fenced_point)
{
#if MAVLINK_NEED_BYTE_SWAP
fenced_point->lat = mavlink_msg_fenced_point_get_lat(msg);
fenced_point->lng = mavlink_msg_fenced_point_get_lng(msg);
fenced_point->idx = mavlink_msg_fenced_point_get_idx(msg);
fenced_point->count = mavlink_msg_fenced_point_get_count(msg);
#else
memcpy(fenced_point, _MAV_PAYLOAD(msg), 10);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_action.h
-188
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@@ -1,188 +0,0 @@
// MESSAGE ACTION PACKING
#define MAVLINK_MSG_ID_ACTION 10
typedef struct __mavlink_action_t
{
uint8_t target; ///< The system executing the action
uint8_t target_component; ///< The component executing the action
uint8_t action; ///< The action id
} mavlink_action_t;
#define MAVLINK_MSG_ID_ACTION_LEN 3
#define MAVLINK_MSG_ID_10_LEN 3
#define MAVLINK_MESSAGE_INFO_ACTION { \
"ACTION", \
3, \
{ { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_action_t, target) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_action_t, target_component) }, \
{ "action", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_action_t, action) }, \
} \
}
/**
* @brief Pack a action message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target The system executing the action
* @param target_component The component executing the action
* @param action The action id
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_action_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target, uint8_t target_component, uint8_t action)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, action);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
#else
mavlink_action_t packet;
packet.target = target;
packet.target_component = target_component;
packet.action = action;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_ACTION;
return mavlink_finalize_message(msg, system_id, component_id, 3, 60);
}
/**
* @brief Pack a action message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target The system executing the action
* @param target_component The component executing the action
* @param action The action id
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target,uint8_t target_component,uint8_t action)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, action);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
#else
mavlink_action_t packet;
packet.target = target;
packet.target_component = target_component;
packet.action = action;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_ACTION;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 60);
}
/**
* @brief Encode a action struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param action C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_action_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_t* action)
{
return mavlink_msg_action_pack(system_id, component_id, msg, action->target, action->target_component, action->action);
}
/**
* @brief Send a action message
* @param chan MAVLink channel to send the message
*
* @param target The system executing the action
* @param target_component The component executing the action
* @param action The action id
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_action_send(mavlink_channel_t chan, uint8_t target, uint8_t target_component, uint8_t action)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, action);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION, buf, 3, 60);
#else
mavlink_action_t packet;
packet.target = target;
packet.target_component = target_component;
packet.action = action;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION, (const char *)&packet, 3, 60);
#endif
}
#endif
// MESSAGE ACTION UNPACKING
/**
* @brief Get field target from action message
*
* @return The system executing the action
*/
static inline uint8_t mavlink_msg_action_get_target(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field target_component from action message
*
* @return The component executing the action
*/
static inline uint8_t mavlink_msg_action_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field action from action message
*
* @return The action id
*/
static inline uint8_t mavlink_msg_action_get_action(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Decode a action message into a struct
*
* @param msg The message to decode
* @param action C-struct to decode the message contents into
*/
static inline void mavlink_msg_action_decode(const mavlink_message_t* msg, mavlink_action_t* action)
{
#if MAVLINK_NEED_BYTE_SWAP
action->target = mavlink_msg_action_get_target(msg);
action->target_component = mavlink_msg_action_get_target_component(msg);
action->action = mavlink_msg_action_get_action(msg);
#else
memcpy(action, _MAV_PAYLOAD(msg), 3);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_action_ack.h
-166
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@@ -1,166 +0,0 @@
// MESSAGE ACTION_ACK PACKING
#define MAVLINK_MSG_ID_ACTION_ACK 9
typedef struct __mavlink_action_ack_t
{
uint8_t action; ///< The action id
uint8_t result; ///< 0: Action DENIED, 1: Action executed
} mavlink_action_ack_t;
#define MAVLINK_MSG_ID_ACTION_ACK_LEN 2
#define MAVLINK_MSG_ID_9_LEN 2
#define MAVLINK_MESSAGE_INFO_ACTION_ACK { \
"ACTION_ACK", \
2, \
{ { "action", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_action_ack_t, action) }, \
{ "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_action_ack_t, result) }, \
} \
}
/**
* @brief Pack a action_ack message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param action The action id
* @param result 0: Action DENIED, 1: Action executed
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_action_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t action, uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, action);
_mav_put_uint8_t(buf, 1, result);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_action_ack_t packet;
packet.action = action;
packet.result = result;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
return mavlink_finalize_message(msg, system_id, component_id, 2, 219);
}
/**
* @brief Pack a action_ack message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param action The action id
* @param result 0: Action DENIED, 1: Action executed
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_action_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t action,uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, action);
_mav_put_uint8_t(buf, 1, result);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_action_ack_t packet;
packet.action = action;
packet.result = result;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 219);
}
/**
* @brief Encode a action_ack struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param action_ack C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_action_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_ack_t* action_ack)
{
return mavlink_msg_action_ack_pack(system_id, component_id, msg, action_ack->action, action_ack->result);
}
/**
* @brief Send a action_ack message
* @param chan MAVLink channel to send the message
*
* @param action The action id
* @param result 0: Action DENIED, 1: Action executed
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_action_ack_send(mavlink_channel_t chan, uint8_t action, uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, action);
_mav_put_uint8_t(buf, 1, result);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION_ACK, buf, 2, 219);
#else
mavlink_action_ack_t packet;
packet.action = action;
packet.result = result;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION_ACK, (const char *)&packet, 2, 219);
#endif
}
#endif
// MESSAGE ACTION_ACK UNPACKING
/**
* @brief Get field action from action_ack message
*
* @return The action id
*/
static inline uint8_t mavlink_msg_action_ack_get_action(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field result from action_ack message
*
* @return 0: Action DENIED, 1: Action executed
*/
static inline uint8_t mavlink_msg_action_ack_get_result(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Decode a action_ack message into a struct
*
* @param msg The message to decode
* @param action_ack C-struct to decode the message contents into
*/
static inline void mavlink_msg_action_ack_decode(const mavlink_message_t* msg, mavlink_action_ack_t* action_ack)
{
#if MAVLINK_NEED_BYTE_SWAP
action_ack->action = mavlink_msg_action_ack_get_action(msg);
action_ack->result = mavlink_msg_action_ack_get_result(msg);
#else
memcpy(action_ack, _MAV_PAYLOAD(msg), 2);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_boot.h
-144
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@@ -1,144 +0,0 @@
// MESSAGE BOOT PACKING
#define MAVLINK_MSG_ID_BOOT 1
typedef struct __mavlink_boot_t
{
uint32_t version; ///< The onboard software version
} mavlink_boot_t;
#define MAVLINK_MSG_ID_BOOT_LEN 4
#define MAVLINK_MSG_ID_1_LEN 4
#define MAVLINK_MESSAGE_INFO_BOOT { \
"BOOT", \
1, \
{ { "version", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_boot_t, version) }, \
} \
}
/**
* @brief Pack a boot message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param version The onboard software version
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_boot_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t version)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint32_t(buf, 0, version);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_boot_t packet;
packet.version = version;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_BOOT;
return mavlink_finalize_message(msg, system_id, component_id, 4, 39);
}
/**
* @brief Pack a boot message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param version The onboard software version
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_boot_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t version)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint32_t(buf, 0, version);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_boot_t packet;
packet.version = version;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_BOOT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 39);
}
/**
* @brief Encode a boot struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param boot C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_boot_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_boot_t* boot)
{
return mavlink_msg_boot_pack(system_id, component_id, msg, boot->version);
}
/**
* @brief Send a boot message
* @param chan MAVLink channel to send the message
*
* @param version The onboard software version
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t version)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint32_t(buf, 0, version);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, buf, 4, 39);
#else
mavlink_boot_t packet;
packet.version = version;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, (const char *)&packet, 4, 39);
#endif
}
#endif
// MESSAGE BOOT UNPACKING
/**
* @brief Get field version from boot message
*
* @return The onboard software version
*/
static inline uint32_t mavlink_msg_boot_get_version(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Decode a boot message into a struct
*
* @param msg The message to decode
* @param boot C-struct to decode the message contents into
*/
static inline void mavlink_msg_boot_decode(const mavlink_message_t* msg, mavlink_boot_t* boot)
{
#if MAVLINK_NEED_BYTE_SWAP
boot->version = mavlink_msg_boot_get_version(msg);
#else
memcpy(boot, _MAV_PAYLOAD(msg), 4);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_command.h
-298
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@@ -1,298 +0,0 @@
// MESSAGE COMMAND PACKING
#define MAVLINK_MSG_ID_COMMAND 75
typedef struct __mavlink_command_t
{
float param1; ///< Parameter 1, as defined by MAV_CMD enum.
float param2; ///< Parameter 2, as defined by MAV_CMD enum.
float param3; ///< Parameter 3, as defined by MAV_CMD enum.
float param4; ///< Parameter 4, as defined by MAV_CMD enum.
uint8_t target_system; ///< System which should execute the command
uint8_t target_component; ///< Component which should execute the command, 0 for all components
uint8_t command; ///< Command ID, as defined by MAV_CMD enum.
uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
} mavlink_command_t;
#define MAVLINK_MSG_ID_COMMAND_LEN 20
#define MAVLINK_MSG_ID_75_LEN 20
#define MAVLINK_MESSAGE_INFO_COMMAND { \
"COMMAND", \
8, \
{ { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_t, param1) }, \
{ "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_t, param2) }, \
{ "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_t, param3) }, \
{ "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_t, param4) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_command_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_command_t, target_component) }, \
{ "command", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_command_t, command) }, \
{ "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_command_t, confirmation) }, \
} \
}
/**
* @brief Pack a command message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System which should execute the command
* @param target_component Component which should execute the command, 0 for all components
* @param command Command ID, as defined by MAV_CMD enum.
* @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
* @param param1 Parameter 1, as defined by MAV_CMD enum.
* @param param2 Parameter 2, as defined by MAV_CMD enum.
* @param param3 Parameter 3, as defined by MAV_CMD enum.
* @param param4 Parameter 4, as defined by MAV_CMD enum.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_float(buf, 0, param1);
_mav_put_float(buf, 4, param2);
_mav_put_float(buf, 8, param3);
_mav_put_float(buf, 12, param4);
_mav_put_uint8_t(buf, 16, target_system);
_mav_put_uint8_t(buf, 17, target_component);
_mav_put_uint8_t(buf, 18, command);
_mav_put_uint8_t(buf, 19, confirmation);
memcpy(_MAV_PAYLOAD(msg), buf, 20);
#else
mavlink_command_t packet;
packet.param1 = param1;
packet.param2 = param2;
packet.param3 = param3;
packet.param4 = param4;
packet.target_system = target_system;
packet.target_component = target_component;
packet.command = command;
packet.confirmation = confirmation;
memcpy(_MAV_PAYLOAD(msg), &packet, 20);
#endif
msg->msgid = MAVLINK_MSG_ID_COMMAND;
return mavlink_finalize_message(msg, system_id, component_id, 20, 133);
}
/**
* @brief Pack a command message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System which should execute the command
* @param target_component Component which should execute the command, 0 for all components
* @param command Command ID, as defined by MAV_CMD enum.
* @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
* @param param1 Parameter 1, as defined by MAV_CMD enum.
* @param param2 Parameter 2, as defined by MAV_CMD enum.
* @param param3 Parameter 3, as defined by MAV_CMD enum.
* @param param4 Parameter 4, as defined by MAV_CMD enum.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_command_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 command,uint8_t confirmation,float param1,float param2,float param3,float param4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_float(buf, 0, param1);
_mav_put_float(buf, 4, param2);
_mav_put_float(buf, 8, param3);
_mav_put_float(buf, 12, param4);
_mav_put_uint8_t(buf, 16, target_system);
_mav_put_uint8_t(buf, 17, target_component);
_mav_put_uint8_t(buf, 18, command);
_mav_put_uint8_t(buf, 19, confirmation);
memcpy(_MAV_PAYLOAD(msg), buf, 20);
#else
mavlink_command_t packet;
packet.param1 = param1;
packet.param2 = param2;
packet.param3 = param3;
packet.param4 = param4;
packet.target_system = target_system;
packet.target_component = target_component;
packet.command = command;
packet.confirmation = confirmation;
memcpy(_MAV_PAYLOAD(msg), &packet, 20);
#endif
msg->msgid = MAVLINK_MSG_ID_COMMAND;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 133);
}
/**
* @brief Encode a command struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param command C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_t* command)
{
return mavlink_msg_command_pack(system_id, component_id, msg, command->target_system, command->target_component, command->command, command->confirmation, command->param1, command->param2, command->param3, command->param4);
}
/**
* @brief Send a command message
* @param chan MAVLink channel to send the message
*
* @param target_system System which should execute the command
* @param target_component Component which should execute the command, 0 for all components
* @param command Command ID, as defined by MAV_CMD enum.
* @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
* @param param1 Parameter 1, as defined by MAV_CMD enum.
* @param param2 Parameter 2, as defined by MAV_CMD enum.
* @param param3 Parameter 3, as defined by MAV_CMD enum.
* @param param4 Parameter 4, as defined by MAV_CMD enum.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_command_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_float(buf, 0, param1);
_mav_put_float(buf, 4, param2);
_mav_put_float(buf, 8, param3);
_mav_put_float(buf, 12, param4);
_mav_put_uint8_t(buf, 16, target_system);
_mav_put_uint8_t(buf, 17, target_component);
_mav_put_uint8_t(buf, 18, command);
_mav_put_uint8_t(buf, 19, confirmation);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, buf, 20, 133);
#else
mavlink_command_t packet;
packet.param1 = param1;
packet.param2 = param2;
packet.param3 = param3;
packet.param4 = param4;
packet.target_system = target_system;
packet.target_component = target_component;
packet.command = command;
packet.confirmation = confirmation;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, (const char *)&packet, 20, 133);
#endif
}
#endif
// MESSAGE COMMAND UNPACKING
/**
* @brief Get field target_system from command message
*
* @return System which should execute the command
*/
static inline uint8_t mavlink_msg_command_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 16);
}
/**
* @brief Get field target_component from command message
*
* @return Component which should execute the command, 0 for all components
*/
static inline uint8_t mavlink_msg_command_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 17);
}
/**
* @brief Get field command from command message
*
* @return Command ID, as defined by MAV_CMD enum.
*/
static inline uint8_t mavlink_msg_command_get_command(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 18);
}
/**
* @brief Get field confirmation from command message
*
* @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
*/
static inline uint8_t mavlink_msg_command_get_confirmation(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 19);
}
/**
* @brief Get field param1 from command message
*
* @return Parameter 1, as defined by MAV_CMD enum.
*/
static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field param2 from command message
*
* @return Parameter 2, as defined by MAV_CMD enum.
*/
static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field param3 from command message
*
* @return Parameter 3, as defined by MAV_CMD enum.
*/
static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field param4 from command message
*
* @return Parameter 4, as defined by MAV_CMD enum.
*/
static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Decode a command message into a struct
*
* @param msg The message to decode
* @param command C-struct to decode the message contents into
*/
static inline void mavlink_msg_command_decode(const mavlink_message_t* msg, mavlink_command_t* command)
{
#if MAVLINK_NEED_BYTE_SWAP
command->param1 = mavlink_msg_command_get_param1(msg);
command->param2 = mavlink_msg_command_get_param2(msg);
command->param3 = mavlink_msg_command_get_param3(msg);
command->param4 = mavlink_msg_command_get_param4(msg);
command->target_system = mavlink_msg_command_get_target_system(msg);
command->target_component = mavlink_msg_command_get_target_component(msg);
command->command = mavlink_msg_command_get_command(msg);
command->confirmation = mavlink_msg_command_get_confirmation(msg);
#else
memcpy(command, _MAV_PAYLOAD(msg), 20);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_control_status.h
-298
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@@ -1,298 +0,0 @@
// MESSAGE CONTROL_STATUS PACKING
#define MAVLINK_MSG_ID_CONTROL_STATUS 52
typedef struct __mavlink_control_status_t
{
uint8_t position_fix; ///< Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
uint8_t vision_fix; ///< Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
uint8_t gps_fix; ///< GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
uint8_t ahrs_health; ///< Attitude estimation health: 0: poor, 255: excellent
uint8_t control_att; ///< 0: Attitude control disabled, 1: enabled
uint8_t control_pos_xy; ///< 0: X, Y position control disabled, 1: enabled
uint8_t control_pos_z; ///< 0: Z position control disabled, 1: enabled
uint8_t control_pos_yaw; ///< 0: Yaw angle control disabled, 1: enabled
} mavlink_control_status_t;
#define MAVLINK_MSG_ID_CONTROL_STATUS_LEN 8
#define MAVLINK_MSG_ID_52_LEN 8
#define MAVLINK_MESSAGE_INFO_CONTROL_STATUS { \
"CONTROL_STATUS", \
8, \
{ { "position_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_control_status_t, position_fix) }, \
{ "vision_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_control_status_t, vision_fix) }, \
{ "gps_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_control_status_t, gps_fix) }, \
{ "ahrs_health", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_control_status_t, ahrs_health) }, \
{ "control_att", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_control_status_t, control_att) }, \
{ "control_pos_xy", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_control_status_t, control_pos_xy) }, \
{ "control_pos_z", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_control_status_t, control_pos_z) }, \
{ "control_pos_yaw", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_control_status_t, control_pos_yaw) }, \
} \
}
/**
* @brief Pack a control_status message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
* @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
* @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
* @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
* @param control_att 0: Attitude control disabled, 1: enabled
* @param control_pos_xy 0: X, Y position control disabled, 1: enabled
* @param control_pos_z 0: Z position control disabled, 1: enabled
* @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_control_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint8_t(buf, 0, position_fix);
_mav_put_uint8_t(buf, 1, vision_fix);
_mav_put_uint8_t(buf, 2, gps_fix);
_mav_put_uint8_t(buf, 3, ahrs_health);
_mav_put_uint8_t(buf, 4, control_att);
_mav_put_uint8_t(buf, 5, control_pos_xy);
_mav_put_uint8_t(buf, 6, control_pos_z);
_mav_put_uint8_t(buf, 7, control_pos_yaw);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
#else
mavlink_control_status_t packet;
packet.position_fix = position_fix;
packet.vision_fix = vision_fix;
packet.gps_fix = gps_fix;
packet.ahrs_health = ahrs_health;
packet.control_att = control_att;
packet.control_pos_xy = control_pos_xy;
packet.control_pos_z = control_pos_z;
packet.control_pos_yaw = control_pos_yaw;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
return mavlink_finalize_message(msg, system_id, component_id, 8, 157);
}
/**
* @brief Pack a control_status message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
* @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
* @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
* @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
* @param control_att 0: Attitude control disabled, 1: enabled
* @param control_pos_xy 0: X, Y position control disabled, 1: enabled
* @param control_pos_z 0: Z position control disabled, 1: enabled
* @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_control_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t position_fix,uint8_t vision_fix,uint8_t gps_fix,uint8_t ahrs_health,uint8_t control_att,uint8_t control_pos_xy,uint8_t control_pos_z,uint8_t control_pos_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint8_t(buf, 0, position_fix);
_mav_put_uint8_t(buf, 1, vision_fix);
_mav_put_uint8_t(buf, 2, gps_fix);
_mav_put_uint8_t(buf, 3, ahrs_health);
_mav_put_uint8_t(buf, 4, control_att);
_mav_put_uint8_t(buf, 5, control_pos_xy);
_mav_put_uint8_t(buf, 6, control_pos_z);
_mav_put_uint8_t(buf, 7, control_pos_yaw);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
#else
mavlink_control_status_t packet;
packet.position_fix = position_fix;
packet.vision_fix = vision_fix;
packet.gps_fix = gps_fix;
packet.ahrs_health = ahrs_health;
packet.control_att = control_att;
packet.control_pos_xy = control_pos_xy;
packet.control_pos_z = control_pos_z;
packet.control_pos_yaw = control_pos_yaw;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8, 157);
}
/**
* @brief Encode a control_status struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param control_status C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_control_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_status_t* control_status)
{
return mavlink_msg_control_status_pack(system_id, component_id, msg, control_status->position_fix, control_status->vision_fix, control_status->gps_fix, control_status->ahrs_health, control_status->control_att, control_status->control_pos_xy, control_status->control_pos_z, control_status->control_pos_yaw);
}
/**
* @brief Send a control_status message
* @param chan MAVLink channel to send the message
*
* @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
* @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
* @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
* @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
* @param control_att 0: Attitude control disabled, 1: enabled
* @param control_pos_xy 0: X, Y position control disabled, 1: enabled
* @param control_pos_z 0: Z position control disabled, 1: enabled
* @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_control_status_send(mavlink_channel_t chan, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint8_t(buf, 0, position_fix);
_mav_put_uint8_t(buf, 1, vision_fix);
_mav_put_uint8_t(buf, 2, gps_fix);
_mav_put_uint8_t(buf, 3, ahrs_health);
_mav_put_uint8_t(buf, 4, control_att);
_mav_put_uint8_t(buf, 5, control_pos_xy);
_mav_put_uint8_t(buf, 6, control_pos_z);
_mav_put_uint8_t(buf, 7, control_pos_yaw);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, buf, 8, 157);
#else
mavlink_control_status_t packet;
packet.position_fix = position_fix;
packet.vision_fix = vision_fix;
packet.gps_fix = gps_fix;
packet.ahrs_health = ahrs_health;
packet.control_att = control_att;
packet.control_pos_xy = control_pos_xy;
packet.control_pos_z = control_pos_z;
packet.control_pos_yaw = control_pos_yaw;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, (const char *)&packet, 8, 157);
#endif
}
#endif
// MESSAGE CONTROL_STATUS UNPACKING
/**
* @brief Get field position_fix from control_status message
*
* @return Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
*/
static inline uint8_t mavlink_msg_control_status_get_position_fix(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field vision_fix from control_status message
*
* @return Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
*/
static inline uint8_t mavlink_msg_control_status_get_vision_fix(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field gps_fix from control_status message
*
* @return GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
*/
static inline uint8_t mavlink_msg_control_status_get_gps_fix(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Get field ahrs_health from control_status message
*
* @return Attitude estimation health: 0: poor, 255: excellent
*/
static inline uint8_t mavlink_msg_control_status_get_ahrs_health(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 3);
}
/**
* @brief Get field control_att from control_status message
*
* @return 0: Attitude control disabled, 1: enabled
*/
static inline uint8_t mavlink_msg_control_status_get_control_att(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 4);
}
/**
* @brief Get field control_pos_xy from control_status message
*
* @return 0: X, Y position control disabled, 1: enabled
*/
static inline uint8_t mavlink_msg_control_status_get_control_pos_xy(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 5);
}
/**
* @brief Get field control_pos_z from control_status message
*
* @return 0: Z position control disabled, 1: enabled
*/
static inline uint8_t mavlink_msg_control_status_get_control_pos_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 6);
}
/**
* @brief Get field control_pos_yaw from control_status message
*
* @return 0: Yaw angle control disabled, 1: enabled
*/
static inline uint8_t mavlink_msg_control_status_get_control_pos_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 7);
}
/**
* @brief Decode a control_status message into a struct
*
* @param msg The message to decode
* @param control_status C-struct to decode the message contents into
*/
static inline void mavlink_msg_control_status_decode(const mavlink_message_t* msg, mavlink_control_status_t* control_status)
{
#if MAVLINK_NEED_BYTE_SWAP
control_status->position_fix = mavlink_msg_control_status_get_position_fix(msg);
control_status->vision_fix = mavlink_msg_control_status_get_vision_fix(msg);
control_status->gps_fix = mavlink_msg_control_status_get_gps_fix(msg);
control_status->ahrs_health = mavlink_msg_control_status_get_ahrs_health(msg);
control_status->control_att = mavlink_msg_control_status_get_control_att(msg);
control_status->control_pos_xy = mavlink_msg_control_status_get_control_pos_xy(msg);
control_status->control_pos_z = mavlink_msg_control_status_get_control_pos_z(msg);
control_status->control_pos_yaw = mavlink_msg_control_status_get_control_pos_yaw(msg);
#else
memcpy(control_status, _MAV_PAYLOAD(msg), 8);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_extended_message.h
-188
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@@ -1,188 +0,0 @@
// MESSAGE EXTENDED_MESSAGE PACKING
#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
typedef struct __mavlink_extended_message_t
{
uint8_t target_system; ///< System which should execute the command
uint8_t target_component; ///< Component which should execute the command, 0 for all components
uint8_t protocol_flags; ///< Retransmission / ACK flags
} mavlink_extended_message_t;
#define MAVLINK_MSG_ID_EXTENDED_MESSAGE_LEN 3
#define MAVLINK_MSG_ID_255_LEN 3
#define MAVLINK_MESSAGE_INFO_EXTENDED_MESSAGE { \
"EXTENDED_MESSAGE", \
3, \
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_extended_message_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_extended_message_t, target_component) }, \
{ "protocol_flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_extended_message_t, protocol_flags) }, \
} \
}
/**
* @brief Pack a extended_message message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System which should execute the command
* @param target_component Component which should execute the command, 0 for all components
* @param protocol_flags Retransmission / ACK flags
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_extended_message_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint8_t protocol_flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, protocol_flags);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
#else
mavlink_extended_message_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.protocol_flags = protocol_flags;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE;
return mavlink_finalize_message(msg, system_id, component_id, 3, 247);
}
/**
* @brief Pack a extended_message message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System which should execute the command
* @param target_component Component which should execute the command, 0 for all components
* @param protocol_flags Retransmission / ACK flags
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_extended_message_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 protocol_flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, protocol_flags);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
#else
mavlink_extended_message_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.protocol_flags = protocol_flags;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 247);
}
/**
* @brief Encode a extended_message struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param extended_message C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_extended_message_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_extended_message_t* extended_message)
{
return mavlink_msg_extended_message_pack(system_id, component_id, msg, extended_message->target_system, extended_message->target_component, extended_message->protocol_flags);
}
/**
* @brief Send a extended_message message
* @param chan MAVLink channel to send the message
*
* @param target_system System which should execute the command
* @param target_component Component which should execute the command, 0 for all components
* @param protocol_flags Retransmission / ACK flags
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_extended_message_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t protocol_flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, protocol_flags);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EXTENDED_MESSAGE, buf, 3, 247);
#else
mavlink_extended_message_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.protocol_flags = protocol_flags;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EXTENDED_MESSAGE, (const char *)&packet, 3, 247);
#endif
}
#endif
// MESSAGE EXTENDED_MESSAGE UNPACKING
/**
* @brief Get field target_system from extended_message message
*
* @return System which should execute the command
*/
static inline uint8_t mavlink_msg_extended_message_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field target_component from extended_message message
*
* @return Component which should execute the command, 0 for all components
*/
static inline uint8_t mavlink_msg_extended_message_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field protocol_flags from extended_message message
*
* @return Retransmission / ACK flags
*/
static inline uint8_t mavlink_msg_extended_message_get_protocol_flags(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Decode a extended_message message into a struct
*
* @param msg The message to decode
* @param extended_message C-struct to decode the message contents into
*/
static inline void mavlink_msg_extended_message_decode(const mavlink_message_t* msg, mavlink_extended_message_t* extended_message)
{
#if MAVLINK_NEED_BYTE_SWAP
extended_message->target_system = mavlink_msg_extended_message_get_target_system(msg);
extended_message->target_component = mavlink_msg_extended_message_get_target_component(msg);
extended_message->protocol_flags = mavlink_msg_extended_message_get_protocol_flags(msg);
#else
memcpy(extended_message, _MAV_PAYLOAD(msg), 3);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_global_position.h
-276
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@@ -1,276 +0,0 @@
// MESSAGE GLOBAL_POSITION PACKING
#define MAVLINK_MSG_ID_GLOBAL_POSITION 33
typedef struct __mavlink_global_position_t
{
uint64_t usec; ///< Timestamp (microseconds since unix epoch)
float lat; ///< Latitude, in degrees
float lon; ///< Longitude, in degrees
float alt; ///< Absolute altitude, in meters
float vx; ///< X Speed (in Latitude direction, positive: going north)
float vy; ///< Y Speed (in Longitude direction, positive: going east)
float vz; ///< Z Speed (in Altitude direction, positive: going up)
} mavlink_global_position_t;
#define MAVLINK_MSG_ID_GLOBAL_POSITION_LEN 32
#define MAVLINK_MSG_ID_33_LEN 32
#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION { \
"GLOBAL_POSITION", \
7, \
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_position_t, usec) }, \
{ "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_position_t, lat) }, \
{ "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_position_t, lon) }, \
{ "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_position_t, alt) }, \
{ "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_position_t, vx) }, \
{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_position_t, vy) }, \
{ "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_position_t, vz) }, \
} \
}
/**
* @brief Pack a global_position message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param usec Timestamp (microseconds since unix epoch)
* @param lat Latitude, in degrees
* @param lon Longitude, in degrees
* @param alt Absolute altitude, in meters
* @param vx X Speed (in Latitude direction, positive: going north)
* @param vy Y Speed (in Longitude direction, positive: going east)
* @param vz Z Speed (in Altitude direction, positive: going up)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_global_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, lat);
_mav_put_float(buf, 12, lon);
_mav_put_float(buf, 16, alt);
_mav_put_float(buf, 20, vx);
_mav_put_float(buf, 24, vy);
_mav_put_float(buf, 28, vz);
memcpy(_MAV_PAYLOAD(msg), buf, 32);
#else
mavlink_global_position_t packet;
packet.usec = usec;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
#endif
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION;
return mavlink_finalize_message(msg, system_id, component_id, 32, 147);
}
/**
* @brief Pack a global_position message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param usec Timestamp (microseconds since unix epoch)
* @param lat Latitude, in degrees
* @param lon Longitude, in degrees
* @param alt Absolute altitude, in meters
* @param vx X Speed (in Latitude direction, positive: going north)
* @param vy Y Speed (in Longitude direction, positive: going east)
* @param vz Z Speed (in Altitude direction, positive: going up)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_global_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,float lat,float lon,float alt,float vx,float vy,float vz)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, lat);
_mav_put_float(buf, 12, lon);
_mav_put_float(buf, 16, alt);
_mav_put_float(buf, 20, vx);
_mav_put_float(buf, 24, vy);
_mav_put_float(buf, 28, vz);
memcpy(_MAV_PAYLOAD(msg), buf, 32);
#else
mavlink_global_position_t packet;
packet.usec = usec;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
#endif
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 147);
}
/**
* @brief Encode a global_position struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param global_position C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_global_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_t* global_position)
{
return mavlink_msg_global_position_pack(system_id, component_id, msg, global_position->usec, global_position->lat, global_position->lon, global_position->alt, global_position->vx, global_position->vy, global_position->vz);
}
/**
* @brief Send a global_position message
* @param chan MAVLink channel to send the message
*
* @param usec Timestamp (microseconds since unix epoch)
* @param lat Latitude, in degrees
* @param lon Longitude, in degrees
* @param alt Absolute altitude, in meters
* @param vx X Speed (in Latitude direction, positive: going north)
* @param vy Y Speed (in Longitude direction, positive: going east)
* @param vz Z Speed (in Altitude direction, positive: going up)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_global_position_send(mavlink_channel_t chan, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, lat);
_mav_put_float(buf, 12, lon);
_mav_put_float(buf, 16, alt);
_mav_put_float(buf, 20, vx);
_mav_put_float(buf, 24, vy);
_mav_put_float(buf, 28, vz);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION, buf, 32, 147);
#else
mavlink_global_position_t packet;
packet.usec = usec;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION, (const char *)&packet, 32, 147);
#endif
}
#endif
// MESSAGE GLOBAL_POSITION UNPACKING
/**
* @brief Get field usec from global_position message
*
* @return Timestamp (microseconds since unix epoch)
*/
static inline uint64_t mavlink_msg_global_position_get_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field lat from global_position message
*
* @return Latitude, in degrees
*/
static inline float mavlink_msg_global_position_get_lat(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field lon from global_position message
*
* @return Longitude, in degrees
*/
static inline float mavlink_msg_global_position_get_lon(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field alt from global_position message
*
* @return Absolute altitude, in meters
*/
static inline float mavlink_msg_global_position_get_alt(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field vx from global_position message
*
* @return X Speed (in Latitude direction, positive: going north)
*/
static inline float mavlink_msg_global_position_get_vx(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field vy from global_position message
*
* @return Y Speed (in Longitude direction, positive: going east)
*/
static inline float mavlink_msg_global_position_get_vy(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Get field vz from global_position message
*
* @return Z Speed (in Altitude direction, positive: going up)
*/
static inline float mavlink_msg_global_position_get_vz(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Decode a global_position message into a struct
*
* @param msg The message to decode
* @param global_position C-struct to decode the message contents into
*/
static inline void mavlink_msg_global_position_decode(const mavlink_message_t* msg, mavlink_global_position_t* global_position)
{
#if MAVLINK_NEED_BYTE_SWAP
global_position->usec = mavlink_msg_global_position_get_usec(msg);
global_position->lat = mavlink_msg_global_position_get_lat(msg);
global_position->lon = mavlink_msg_global_position_get_lon(msg);
global_position->alt = mavlink_msg_global_position_get_alt(msg);
global_position->vx = mavlink_msg_global_position_get_vx(msg);
global_position->vy = mavlink_msg_global_position_get_vy(msg);
global_position->vz = mavlink_msg_global_position_get_vz(msg);
#else
memcpy(global_position, _MAV_PAYLOAD(msg), 32);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_gps_local_origin_set.h
-188
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@@ -1,188 +0,0 @@
// MESSAGE GPS_LOCAL_ORIGIN_SET PACKING
#define MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET 49
typedef struct __mavlink_gps_local_origin_set_t
{
int32_t latitude; ///< Latitude (WGS84), expressed as * 1E7
int32_t longitude; ///< Longitude (WGS84), expressed as * 1E7
int32_t altitude; ///< Altitude(WGS84), expressed as * 1000
} mavlink_gps_local_origin_set_t;
#define MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET_LEN 12
#define MAVLINK_MSG_ID_49_LEN 12
#define MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET { \
"GPS_LOCAL_ORIGIN_SET", \
3, \
{ { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_local_origin_set_t, latitude) }, \
{ "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_local_origin_set_t, longitude) }, \
{ "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_local_origin_set_t, altitude) }, \
} \
}
/**
* @brief Pack a gps_local_origin_set message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param latitude Latitude (WGS84), expressed as * 1E7
* @param longitude Longitude (WGS84), expressed as * 1E7
* @param altitude Altitude(WGS84), expressed as * 1000
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_local_origin_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
int32_t latitude, int32_t longitude, int32_t altitude)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
memcpy(_MAV_PAYLOAD(msg), buf, 12);
#else
mavlink_gps_local_origin_set_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET;
return mavlink_finalize_message(msg, system_id, component_id, 12, 14);
}
/**
* @brief Pack a gps_local_origin_set message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param latitude Latitude (WGS84), expressed as * 1E7
* @param longitude Longitude (WGS84), expressed as * 1E7
* @param altitude Altitude(WGS84), expressed as * 1000
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_local_origin_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
int32_t latitude,int32_t longitude,int32_t altitude)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
memcpy(_MAV_PAYLOAD(msg), buf, 12);
#else
mavlink_gps_local_origin_set_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 14);
}
/**
* @brief Encode a gps_local_origin_set struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param gps_local_origin_set C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_gps_local_origin_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_local_origin_set_t* gps_local_origin_set)
{
return mavlink_msg_gps_local_origin_set_pack(system_id, component_id, msg, gps_local_origin_set->latitude, gps_local_origin_set->longitude, gps_local_origin_set->altitude);
}
/**
* @brief Send a gps_local_origin_set message
* @param chan MAVLink channel to send the message
*
* @param latitude Latitude (WGS84), expressed as * 1E7
* @param longitude Longitude (WGS84), expressed as * 1E7
* @param altitude Altitude(WGS84), expressed as * 1000
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_gps_local_origin_set_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET, buf, 12, 14);
#else
mavlink_gps_local_origin_set_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET, (const char *)&packet, 12, 14);
#endif
}
#endif
// MESSAGE GPS_LOCAL_ORIGIN_SET UNPACKING
/**
* @brief Get field latitude from gps_local_origin_set message
*
* @return Latitude (WGS84), expressed as * 1E7
*/
static inline int32_t mavlink_msg_gps_local_origin_set_get_latitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 0);
}
/**
* @brief Get field longitude from gps_local_origin_set message
*
* @return Longitude (WGS84), expressed as * 1E7
*/
static inline int32_t mavlink_msg_gps_local_origin_set_get_longitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 4);
}
/**
* @brief Get field altitude from gps_local_origin_set message
*
* @return Altitude(WGS84), expressed as * 1000
*/
static inline int32_t mavlink_msg_gps_local_origin_set_get_altitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 8);
}
/**
* @brief Decode a gps_local_origin_set message into a struct
*
* @param msg The message to decode
* @param gps_local_origin_set C-struct to decode the message contents into
*/
static inline void mavlink_msg_gps_local_origin_set_decode(const mavlink_message_t* msg, mavlink_gps_local_origin_set_t* gps_local_origin_set)
{
#if MAVLINK_NEED_BYTE_SWAP
gps_local_origin_set->latitude = mavlink_msg_gps_local_origin_set_get_latitude(msg);
gps_local_origin_set->longitude = mavlink_msg_gps_local_origin_set_get_longitude(msg);
gps_local_origin_set->altitude = mavlink_msg_gps_local_origin_set_get_altitude(msg);
#else
memcpy(gps_local_origin_set, _MAV_PAYLOAD(msg), 12);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_gps_raw.h
-320
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@@ -1,320 +0,0 @@
// MESSAGE GPS_RAW PACKING
#define MAVLINK_MSG_ID_GPS_RAW 32
typedef struct __mavlink_gps_raw_t
{
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float lat; ///< Latitude in degrees
float lon; ///< Longitude in degrees
float alt; ///< Altitude in meters
float eph; ///< GPS HDOP
float epv; ///< GPS VDOP
float v; ///< GPS ground speed
float hdg; ///< Compass heading in degrees, 0..360 degrees
uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
} mavlink_gps_raw_t;
#define MAVLINK_MSG_ID_GPS_RAW_LEN 37
#define MAVLINK_MSG_ID_32_LEN 37
#define MAVLINK_MESSAGE_INFO_GPS_RAW { \
"GPS_RAW", \
9, \
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_t, usec) }, \
{ "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_gps_raw_t, lat) }, \
{ "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_gps_raw_t, lon) }, \
{ "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_gps_raw_t, alt) }, \
{ "eph", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_gps_raw_t, eph) }, \
{ "epv", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_gps_raw_t, epv) }, \
{ "v", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_gps_raw_t, v) }, \
{ "hdg", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_gps_raw_t, hdg) }, \
{ "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_gps_raw_t, fix_type) }, \
} \
}
/**
* @brief Pack a gps_raw message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
* @param lat Latitude in degrees
* @param lon Longitude in degrees
* @param alt Altitude in meters
* @param eph GPS HDOP
* @param epv GPS VDOP
* @param v GPS ground speed
* @param hdg Compass heading in degrees, 0..360 degrees
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[37];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, lat);
_mav_put_float(buf, 12, lon);
_mav_put_float(buf, 16, alt);
_mav_put_float(buf, 20, eph);
_mav_put_float(buf, 24, epv);
_mav_put_float(buf, 28, v);
_mav_put_float(buf, 32, hdg);
_mav_put_uint8_t(buf, 36, fix_type);
memcpy(_MAV_PAYLOAD(msg), buf, 37);
#else
mavlink_gps_raw_t packet;
packet.usec = usec;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.eph = eph;
packet.epv = epv;
packet.v = v;
packet.hdg = hdg;
packet.fix_type = fix_type;
memcpy(_MAV_PAYLOAD(msg), &packet, 37);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_RAW;
return mavlink_finalize_message(msg, system_id, component_id, 37, 220);
}
/**
* @brief Pack a gps_raw message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
* @param lat Latitude in degrees
* @param lon Longitude in degrees
* @param alt Altitude in meters
* @param eph GPS HDOP
* @param epv GPS VDOP
* @param v GPS ground speed
* @param hdg Compass heading in degrees, 0..360 degrees
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,uint8_t fix_type,float lat,float lon,float alt,float eph,float epv,float v,float hdg)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[37];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, lat);
_mav_put_float(buf, 12, lon);
_mav_put_float(buf, 16, alt);
_mav_put_float(buf, 20, eph);
_mav_put_float(buf, 24, epv);
_mav_put_float(buf, 28, v);
_mav_put_float(buf, 32, hdg);
_mav_put_uint8_t(buf, 36, fix_type);
memcpy(_MAV_PAYLOAD(msg), buf, 37);
#else
mavlink_gps_raw_t packet;
packet.usec = usec;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.eph = eph;
packet.epv = epv;
packet.v = v;
packet.hdg = hdg;
packet.fix_type = fix_type;
memcpy(_MAV_PAYLOAD(msg), &packet, 37);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_RAW;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 37, 220);
}
/**
* @brief Encode a gps_raw struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param gps_raw C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_gps_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_t* gps_raw)
{
return mavlink_msg_gps_raw_pack(system_id, component_id, msg, gps_raw->usec, gps_raw->fix_type, gps_raw->lat, gps_raw->lon, gps_raw->alt, gps_raw->eph, gps_raw->epv, gps_raw->v, gps_raw->hdg);
}
/**
* @brief Send a gps_raw message
* @param chan MAVLink channel to send the message
*
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
* @param lat Latitude in degrees
* @param lon Longitude in degrees
* @param alt Altitude in meters
* @param eph GPS HDOP
* @param epv GPS VDOP
* @param v GPS ground speed
* @param hdg Compass heading in degrees, 0..360 degrees
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_gps_raw_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[37];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, lat);
_mav_put_float(buf, 12, lon);
_mav_put_float(buf, 16, alt);
_mav_put_float(buf, 20, eph);
_mav_put_float(buf, 24, epv);
_mav_put_float(buf, 28, v);
_mav_put_float(buf, 32, hdg);
_mav_put_uint8_t(buf, 36, fix_type);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, buf, 37, 220);
#else
mavlink_gps_raw_t packet;
packet.usec = usec;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.eph = eph;
packet.epv = epv;
packet.v = v;
packet.hdg = hdg;
packet.fix_type = fix_type;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, (const char *)&packet, 37, 220);
#endif
}
#endif
// MESSAGE GPS_RAW UNPACKING
/**
* @brief Get field usec from gps_raw message
*
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
*/
static inline uint64_t mavlink_msg_gps_raw_get_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field fix_type from gps_raw message
*
* @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
*/
static inline uint8_t mavlink_msg_gps_raw_get_fix_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 36);
}
/**
* @brief Get field lat from gps_raw message
*
* @return Latitude in degrees
*/
static inline float mavlink_msg_gps_raw_get_lat(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field lon from gps_raw message
*
* @return Longitude in degrees
*/
static inline float mavlink_msg_gps_raw_get_lon(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field alt from gps_raw message
*
* @return Altitude in meters
*/
static inline float mavlink_msg_gps_raw_get_alt(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field eph from gps_raw message
*
* @return GPS HDOP
*/
static inline float mavlink_msg_gps_raw_get_eph(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field epv from gps_raw message
*
* @return GPS VDOP
*/
static inline float mavlink_msg_gps_raw_get_epv(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Get field v from gps_raw message
*
* @return GPS ground speed
*/
static inline float mavlink_msg_gps_raw_get_v(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Get field hdg from gps_raw message
*
* @return Compass heading in degrees, 0..360 degrees
*/
static inline float mavlink_msg_gps_raw_get_hdg(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 32);
}
/**
* @brief Decode a gps_raw message into a struct
*
* @param msg The message to decode
* @param gps_raw C-struct to decode the message contents into
*/
static inline void mavlink_msg_gps_raw_decode(const mavlink_message_t* msg, mavlink_gps_raw_t* gps_raw)
{
#if MAVLINK_NEED_BYTE_SWAP
gps_raw->usec = mavlink_msg_gps_raw_get_usec(msg);
gps_raw->lat = mavlink_msg_gps_raw_get_lat(msg);
gps_raw->lon = mavlink_msg_gps_raw_get_lon(msg);
gps_raw->alt = mavlink_msg_gps_raw_get_alt(msg);
gps_raw->eph = mavlink_msg_gps_raw_get_eph(msg);
gps_raw->epv = mavlink_msg_gps_raw_get_epv(msg);
gps_raw->v = mavlink_msg_gps_raw_get_v(msg);
gps_raw->hdg = mavlink_msg_gps_raw_get_hdg(msg);
gps_raw->fix_type = mavlink_msg_gps_raw_get_fix_type(msg);
#else
memcpy(gps_raw, _MAV_PAYLOAD(msg), 37);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_gps_set_global_origin.h
-232
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@@ -1,232 +0,0 @@
// MESSAGE GPS_SET_GLOBAL_ORIGIN PACKING
#define MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN 48
typedef struct __mavlink_gps_set_global_origin_t
{
int32_t latitude; ///< global position * 1E7
int32_t longitude; ///< global position * 1E7
int32_t altitude; ///< global position * 1000
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
} mavlink_gps_set_global_origin_t;
#define MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN_LEN 14
#define MAVLINK_MSG_ID_48_LEN 14
#define MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN { \
"GPS_SET_GLOBAL_ORIGIN", \
5, \
{ { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_set_global_origin_t, latitude) }, \
{ "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_set_global_origin_t, longitude) }, \
{ "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_set_global_origin_t, altitude) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_gps_set_global_origin_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_gps_set_global_origin_t, target_component) }, \
} \
}
/**
* @brief Pack a gps_set_global_origin message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @param latitude global position * 1E7
* @param longitude global position * 1E7
* @param altitude global position * 1000
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_set_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, int32_t latitude, int32_t longitude, int32_t altitude)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[14];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
_mav_put_uint8_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 13, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 14);
#else
mavlink_gps_set_global_origin_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN;
return mavlink_finalize_message(msg, system_id, component_id, 14, 170);
}
/**
* @brief Pack a gps_set_global_origin message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param latitude global position * 1E7
* @param longitude global position * 1E7
* @param altitude global position * 1000
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_set_global_origin_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,int32_t latitude,int32_t longitude,int32_t altitude)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[14];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
_mav_put_uint8_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 13, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 14);
#else
mavlink_gps_set_global_origin_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14, 170);
}
/**
* @brief Encode a gps_set_global_origin struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param gps_set_global_origin C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_gps_set_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_set_global_origin_t* gps_set_global_origin)
{
return mavlink_msg_gps_set_global_origin_pack(system_id, component_id, msg, gps_set_global_origin->target_system, gps_set_global_origin->target_component, gps_set_global_origin->latitude, gps_set_global_origin->longitude, gps_set_global_origin->altitude);
}
/**
* @brief Send a gps_set_global_origin message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param latitude global position * 1E7
* @param longitude global position * 1E7
* @param altitude global position * 1000
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_gps_set_global_origin_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t latitude, int32_t longitude, int32_t altitude)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[14];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
_mav_put_uint8_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 13, target_component);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN, buf, 14, 170);
#else
mavlink_gps_set_global_origin_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
packet.target_system = target_system;
packet.target_component = target_component;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN, (const char *)&packet, 14, 170);
#endif
}
#endif
// MESSAGE GPS_SET_GLOBAL_ORIGIN UNPACKING
/**
* @brief Get field target_system from gps_set_global_origin message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_gps_set_global_origin_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 12);
}
/**
* @brief Get field target_component from gps_set_global_origin message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_gps_set_global_origin_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 13);
}
/**
* @brief Get field latitude from gps_set_global_origin message
*
* @return global position * 1E7
*/
static inline int32_t mavlink_msg_gps_set_global_origin_get_latitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 0);
}
/**
* @brief Get field longitude from gps_set_global_origin message
*
* @return global position * 1E7
*/
static inline int32_t mavlink_msg_gps_set_global_origin_get_longitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 4);
}
/**
* @brief Get field altitude from gps_set_global_origin message
*
* @return global position * 1000
*/
static inline int32_t mavlink_msg_gps_set_global_origin_get_altitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 8);
}
/**
* @brief Decode a gps_set_global_origin message into a struct
*
* @param msg The message to decode
* @param gps_set_global_origin C-struct to decode the message contents into
*/
static inline void mavlink_msg_gps_set_global_origin_decode(const mavlink_message_t* msg, mavlink_gps_set_global_origin_t* gps_set_global_origin)
{
#if MAVLINK_NEED_BYTE_SWAP
gps_set_global_origin->latitude = mavlink_msg_gps_set_global_origin_get_latitude(msg);
gps_set_global_origin->longitude = mavlink_msg_gps_set_global_origin_get_longitude(msg);
gps_set_global_origin->altitude = mavlink_msg_gps_set_global_origin_get_altitude(msg);
gps_set_global_origin->target_system = mavlink_msg_gps_set_global_origin_get_target_system(msg);
gps_set_global_origin->target_component = mavlink_msg_gps_set_global_origin_get_target_component(msg);
#else
memcpy(gps_set_global_origin, _MAV_PAYLOAD(msg), 14);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_hil_gps.h
+427
View File
@@ -0,0 +1,427 @@
// MESSAGE HIL_GPS PACKING
#define MAVLINK_MSG_ID_HIL_GPS 113
typedef struct __mavlink_hil_gps_t
{
uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
int32_t lat; ///< Latitude (WGS84), in degrees * 1E7
int32_t lon; ///< Longitude (WGS84), in degrees * 1E7
int32_t alt; ///< Altitude (WGS84), in meters * 1000 (positive for up)
uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
uint16_t epv; ///< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: 65535
int16_t vn; ///< GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
int16_t ve; ///< GPS velocity in cm/s in EAST direction in earth-fixed NED frame
int16_t vd; ///< GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
uint16_t cog; ///< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
uint8_t satellites_visible; ///< Number of satellites visible. If unknown, set to 255
} mavlink_hil_gps_t;
#define MAVLINK_MSG_ID_HIL_GPS_LEN 36
#define MAVLINK_MSG_ID_113_LEN 36
#define MAVLINK_MSG_ID_HIL_GPS_CRC 124
#define MAVLINK_MSG_ID_113_CRC 124
#define MAVLINK_MESSAGE_INFO_HIL_GPS { \
"HIL_GPS", \
13, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_gps_t, time_usec) }, \
{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_hil_gps_t, lat) }, \
{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_hil_gps_t, lon) }, \
{ "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_hil_gps_t, alt) }, \
{ "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_hil_gps_t, eph) }, \
{ "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_hil_gps_t, epv) }, \
{ "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_hil_gps_t, vel) }, \
{ "vn", NULL, MAVLINK_TYPE_INT16_T, 0, 26, offsetof(mavlink_hil_gps_t, vn) }, \
{ "ve", NULL, MAVLINK_TYPE_INT16_T, 0, 28, offsetof(mavlink_hil_gps_t, ve) }, \
{ "vd", NULL, MAVLINK_TYPE_INT16_T, 0, 30, offsetof(mavlink_hil_gps_t, vd) }, \
{ "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 32, offsetof(mavlink_hil_gps_t, cog) }, \
{ "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_hil_gps_t, fix_type) }, \
{ "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_hil_gps_t, satellites_visible) }, \
} \
}
/**
* @brief Pack a hil_gps message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
* @param lat Latitude (WGS84), in degrees * 1E7
* @param lon Longitude (WGS84), in degrees * 1E7
* @param alt Altitude (WGS84), in meters * 1000 (positive for up)
* @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
* @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
* @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
* @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
* @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame
* @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
* @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
* @param satellites_visible Number of satellites visible. If unknown, set to 255
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_gps_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HIL_GPS_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_int32_t(buf, 8, lat);
_mav_put_int32_t(buf, 12, lon);
_mav_put_int32_t(buf, 16, alt);
_mav_put_uint16_t(buf, 20, eph);
_mav_put_uint16_t(buf, 22, epv);
_mav_put_uint16_t(buf, 24, vel);
_mav_put_int16_t(buf, 26, vn);
_mav_put_int16_t(buf, 28, ve);
_mav_put_int16_t(buf, 30, vd);
_mav_put_uint16_t(buf, 32, cog);
_mav_put_uint8_t(buf, 34, fix_type);
_mav_put_uint8_t(buf, 35, satellites_visible);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_GPS_LEN);
#else
mavlink_hil_gps_t packet;
packet.time_usec = time_usec;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.eph = eph;
packet.epv = epv;
packet.vel = vel;
packet.vn = vn;
packet.ve = ve;
packet.vd = vd;
packet.cog = cog;
packet.fix_type = fix_type;
packet.satellites_visible = satellites_visible;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_GPS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HIL_GPS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_GPS_LEN);
#endif
}
/**
* @brief Pack a hil_gps message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
* @param lat Latitude (WGS84), in degrees * 1E7
* @param lon Longitude (WGS84), in degrees * 1E7
* @param alt Altitude (WGS84), in meters * 1000 (positive for up)
* @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
* @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
* @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
* @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
* @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame
* @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
* @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
* @param satellites_visible Number of satellites visible. If unknown, set to 255
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_gps_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,uint16_t eph,uint16_t epv,uint16_t vel,int16_t vn,int16_t ve,int16_t vd,uint16_t cog,uint8_t satellites_visible)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HIL_GPS_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_int32_t(buf, 8, lat);
_mav_put_int32_t(buf, 12, lon);
_mav_put_int32_t(buf, 16, alt);
_mav_put_uint16_t(buf, 20, eph);
_mav_put_uint16_t(buf, 22, epv);
_mav_put_uint16_t(buf, 24, vel);
_mav_put_int16_t(buf, 26, vn);
_mav_put_int16_t(buf, 28, ve);
_mav_put_int16_t(buf, 30, vd);
_mav_put_uint16_t(buf, 32, cog);
_mav_put_uint8_t(buf, 34, fix_type);
_mav_put_uint8_t(buf, 35, satellites_visible);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_GPS_LEN);
#else
mavlink_hil_gps_t packet;
packet.time_usec = time_usec;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.eph = eph;
packet.epv = epv;
packet.vel = vel;
packet.vn = vn;
packet.ve = ve;
packet.vd = vd;
packet.cog = cog;
packet.fix_type = fix_type;
packet.satellites_visible = satellites_visible;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_GPS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HIL_GPS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_GPS_LEN);
#endif
}
/**
* @brief Encode a hil_gps struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param hil_gps C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_hil_gps_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_gps_t* hil_gps)
{
return mavlink_msg_hil_gps_pack(system_id, component_id, msg, hil_gps->time_usec, hil_gps->fix_type, hil_gps->lat, hil_gps->lon, hil_gps->alt, hil_gps->eph, hil_gps->epv, hil_gps->vel, hil_gps->vn, hil_gps->ve, hil_gps->vd, hil_gps->cog, hil_gps->satellites_visible);
}
/**
* @brief Send a hil_gps message
* @param chan MAVLink channel to send the message
*
* @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
* @param lat Latitude (WGS84), in degrees * 1E7
* @param lon Longitude (WGS84), in degrees * 1E7
* @param alt Altitude (WGS84), in meters * 1000 (positive for up)
* @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
* @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
* @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
* @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
* @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame
* @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
* @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
* @param satellites_visible Number of satellites visible. If unknown, set to 255
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_hil_gps_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HIL_GPS_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_int32_t(buf, 8, lat);
_mav_put_int32_t(buf, 12, lon);
_mav_put_int32_t(buf, 16, alt);
_mav_put_uint16_t(buf, 20, eph);
_mav_put_uint16_t(buf, 22, epv);
_mav_put_uint16_t(buf, 24, vel);
_mav_put_int16_t(buf, 26, vn);
_mav_put_int16_t(buf, 28, ve);
_mav_put_int16_t(buf, 30, vd);
_mav_put_uint16_t(buf, 32, cog);
_mav_put_uint8_t(buf, 34, fix_type);
_mav_put_uint8_t(buf, 35, satellites_visible);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_LEN);
#endif
#else
mavlink_hil_gps_t packet;
packet.time_usec = time_usec;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.eph = eph;
packet.epv = epv;
packet.vel = vel;
packet.vn = vn;
packet.ve = ve;
packet.vd = vd;
packet.cog = cog;
packet.fix_type = fix_type;
packet.satellites_visible = satellites_visible;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)&packet, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)&packet, MAVLINK_MSG_ID_HIL_GPS_LEN);
#endif
#endif
}
#endif
// MESSAGE HIL_GPS UNPACKING
/**
* @brief Get field time_usec from hil_gps message
*
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
*/
static inline uint64_t mavlink_msg_hil_gps_get_time_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field fix_type from hil_gps message
*
* @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
*/
static inline uint8_t mavlink_msg_hil_gps_get_fix_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 34);
}
/**
* @brief Get field lat from hil_gps message
*
* @return Latitude (WGS84), in degrees * 1E7
*/
static inline int32_t mavlink_msg_hil_gps_get_lat(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 8);
}
/**
* @brief Get field lon from hil_gps message
*
* @return Longitude (WGS84), in degrees * 1E7
*/
static inline int32_t mavlink_msg_hil_gps_get_lon(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 12);
}
/**
* @brief Get field alt from hil_gps message
*
* @return Altitude (WGS84), in meters * 1000 (positive for up)
*/
static inline int32_t mavlink_msg_hil_gps_get_alt(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 16);
}
/**
* @brief Get field eph from hil_gps message
*
* @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
*/
static inline uint16_t mavlink_msg_hil_gps_get_eph(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 20);
}
/**
* @brief Get field epv from hil_gps message
*
* @return GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
*/
static inline uint16_t mavlink_msg_hil_gps_get_epv(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 22);
}
/**
* @brief Get field vel from hil_gps message
*
* @return GPS ground speed (m/s * 100). If unknown, set to: 65535
*/
static inline uint16_t mavlink_msg_hil_gps_get_vel(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 24);
}
/**
* @brief Get field vn from hil_gps message
*
* @return GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
*/
static inline int16_t mavlink_msg_hil_gps_get_vn(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 26);
}
/**
* @brief Get field ve from hil_gps message
*
* @return GPS velocity in cm/s in EAST direction in earth-fixed NED frame
*/
static inline int16_t mavlink_msg_hil_gps_get_ve(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 28);
}
/**
* @brief Get field vd from hil_gps message
*
* @return GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
*/
static inline int16_t mavlink_msg_hil_gps_get_vd(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 30);
}
/**
* @brief Get field cog from hil_gps message
*
* @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
*/
static inline uint16_t mavlink_msg_hil_gps_get_cog(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 32);
}
/**
* @brief Get field satellites_visible from hil_gps message
*
* @return Number of satellites visible. If unknown, set to 255
*/
static inline uint8_t mavlink_msg_hil_gps_get_satellites_visible(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 35);
}
/**
* @brief Decode a hil_gps message into a struct
*
* @param msg The message to decode
* @param hil_gps C-struct to decode the message contents into
*/
static inline void mavlink_msg_hil_gps_decode(const mavlink_message_t* msg, mavlink_hil_gps_t* hil_gps)
{
#if MAVLINK_NEED_BYTE_SWAP
hil_gps->time_usec = mavlink_msg_hil_gps_get_time_usec(msg);
hil_gps->lat = mavlink_msg_hil_gps_get_lat(msg);
hil_gps->lon = mavlink_msg_hil_gps_get_lon(msg);
hil_gps->alt = mavlink_msg_hil_gps_get_alt(msg);
hil_gps->eph = mavlink_msg_hil_gps_get_eph(msg);
hil_gps->epv = mavlink_msg_hil_gps_get_epv(msg);
hil_gps->vel = mavlink_msg_hil_gps_get_vel(msg);
hil_gps->vn = mavlink_msg_hil_gps_get_vn(msg);
hil_gps->ve = mavlink_msg_hil_gps_get_ve(msg);
hil_gps->vd = mavlink_msg_hil_gps_get_vd(msg);
hil_gps->cog = mavlink_msg_hil_gps_get_cog(msg);
hil_gps->fix_type = mavlink_msg_hil_gps_get_fix_type(msg);
hil_gps->satellites_visible = mavlink_msg_hil_gps_get_satellites_visible(msg);
#else
memcpy(hil_gps, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_GPS_LEN);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_hil_optical_flow.h
+317
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@@ -0,0 +1,317 @@
// MESSAGE HIL_OPTICAL_FLOW PACKING
#define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW 114
typedef struct __mavlink_hil_optical_flow_t
{
uint64_t time_usec; ///< Timestamp (UNIX)
float flow_comp_m_x; ///< Flow in meters in x-sensor direction, angular-speed compensated
float flow_comp_m_y; ///< Flow in meters in y-sensor direction, angular-speed compensated
float ground_distance; ///< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
int16_t flow_x; ///< Flow in pixels in x-sensor direction
int16_t flow_y; ///< Flow in pixels in y-sensor direction
uint8_t sensor_id; ///< Sensor ID
uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
} mavlink_hil_optical_flow_t;
#define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN 26
#define MAVLINK_MSG_ID_114_LEN 26
#define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC 119
#define MAVLINK_MSG_ID_114_CRC 119
#define MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW { \
"HIL_OPTICAL_FLOW", \
8, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_optical_flow_t, time_usec) }, \
{ "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_optical_flow_t, flow_comp_m_x) }, \
{ "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_optical_flow_t, flow_comp_m_y) }, \
{ "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_optical_flow_t, ground_distance) }, \
{ "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_hil_optical_flow_t, flow_x) }, \
{ "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_hil_optical_flow_t, flow_y) }, \
{ "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_hil_optical_flow_t, sensor_id) }, \
{ "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_hil_optical_flow_t, quality) }, \
} \
}
/**
* @brief Pack a hil_optical_flow message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param time_usec Timestamp (UNIX)
* @param sensor_id Sensor ID
* @param flow_x Flow in pixels in x-sensor direction
* @param flow_y Flow in pixels in y-sensor direction
* @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
* @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
* @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, flow_comp_m_x);
_mav_put_float(buf, 12, flow_comp_m_y);
_mav_put_float(buf, 16, ground_distance);
_mav_put_int16_t(buf, 20, flow_x);
_mav_put_int16_t(buf, 22, flow_y);
_mav_put_uint8_t(buf, 24, sensor_id);
_mav_put_uint8_t(buf, 25, quality);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
#else
mavlink_hil_optical_flow_t packet;
packet.time_usec = time_usec;
packet.flow_comp_m_x = flow_comp_m_x;
packet.flow_comp_m_y = flow_comp_m_y;
packet.ground_distance = ground_distance;
packet.flow_x = flow_x;
packet.flow_y = flow_y;
packet.sensor_id = sensor_id;
packet.quality = quality;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
#endif
}
/**
* @brief Pack a hil_optical_flow message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param time_usec Timestamp (UNIX)
* @param sensor_id Sensor ID
* @param flow_x Flow in pixels in x-sensor direction
* @param flow_y Flow in pixels in y-sensor direction
* @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
* @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
* @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_usec,uint8_t sensor_id,int16_t flow_x,int16_t flow_y,float flow_comp_m_x,float flow_comp_m_y,uint8_t quality,float ground_distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, flow_comp_m_x);
_mav_put_float(buf, 12, flow_comp_m_y);
_mav_put_float(buf, 16, ground_distance);
_mav_put_int16_t(buf, 20, flow_x);
_mav_put_int16_t(buf, 22, flow_y);
_mav_put_uint8_t(buf, 24, sensor_id);
_mav_put_uint8_t(buf, 25, quality);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
#else
mavlink_hil_optical_flow_t packet;
packet.time_usec = time_usec;
packet.flow_comp_m_x = flow_comp_m_x;
packet.flow_comp_m_y = flow_comp_m_y;
packet.ground_distance = ground_distance;
packet.flow_x = flow_x;
packet.flow_y = flow_y;
packet.sensor_id = sensor_id;
packet.quality = quality;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
#endif
}
/**
* @brief Encode a hil_optical_flow struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param hil_optical_flow C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_hil_optical_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_optical_flow_t* hil_optical_flow)
{
return mavlink_msg_hil_optical_flow_pack(system_id, component_id, msg, hil_optical_flow->time_usec, hil_optical_flow->sensor_id, hil_optical_flow->flow_x, hil_optical_flow->flow_y, hil_optical_flow->flow_comp_m_x, hil_optical_flow->flow_comp_m_y, hil_optical_flow->quality, hil_optical_flow->ground_distance);
}
/**
* @brief Send a hil_optical_flow message
* @param chan MAVLink channel to send the message
*
* @param time_usec Timestamp (UNIX)
* @param sensor_id Sensor ID
* @param flow_x Flow in pixels in x-sensor direction
* @param flow_y Flow in pixels in y-sensor direction
* @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
* @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
* @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_hil_optical_flow_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, flow_comp_m_x);
_mav_put_float(buf, 12, flow_comp_m_y);
_mav_put_float(buf, 16, ground_distance);
_mav_put_int16_t(buf, 20, flow_x);
_mav_put_int16_t(buf, 22, flow_y);
_mav_put_uint8_t(buf, 24, sensor_id);
_mav_put_uint8_t(buf, 25, quality);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
#endif
#else
mavlink_hil_optical_flow_t packet;
packet.time_usec = time_usec;
packet.flow_comp_m_x = flow_comp_m_x;
packet.flow_comp_m_y = flow_comp_m_y;
packet.ground_distance = ground_distance;
packet.flow_x = flow_x;
packet.flow_y = flow_y;
packet.sensor_id = sensor_id;
packet.quality = quality;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
#endif
#endif
}
#endif
// MESSAGE HIL_OPTICAL_FLOW UNPACKING
/**
* @brief Get field time_usec from hil_optical_flow message
*
* @return Timestamp (UNIX)
*/
static inline uint64_t mavlink_msg_hil_optical_flow_get_time_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field sensor_id from hil_optical_flow message
*
* @return Sensor ID
*/
static inline uint8_t mavlink_msg_hil_optical_flow_get_sensor_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 24);
}
/**
* @brief Get field flow_x from hil_optical_flow message
*
* @return Flow in pixels in x-sensor direction
*/
static inline int16_t mavlink_msg_hil_optical_flow_get_flow_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 20);
}
/**
* @brief Get field flow_y from hil_optical_flow message
*
* @return Flow in pixels in y-sensor direction
*/
static inline int16_t mavlink_msg_hil_optical_flow_get_flow_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 22);
}
/**
* @brief Get field flow_comp_m_x from hil_optical_flow message
*
* @return Flow in meters in x-sensor direction, angular-speed compensated
*/
static inline float mavlink_msg_hil_optical_flow_get_flow_comp_m_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field flow_comp_m_y from hil_optical_flow message
*
* @return Flow in meters in y-sensor direction, angular-speed compensated
*/
static inline float mavlink_msg_hil_optical_flow_get_flow_comp_m_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field quality from hil_optical_flow message
*
* @return Optical flow quality / confidence. 0: bad, 255: maximum quality
*/
static inline uint8_t mavlink_msg_hil_optical_flow_get_quality(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 25);
}
/**
* @brief Get field ground_distance from hil_optical_flow message
*
* @return Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
*/
static inline float mavlink_msg_hil_optical_flow_get_ground_distance(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Decode a hil_optical_flow message into a struct
*
* @param msg The message to decode
* @param hil_optical_flow C-struct to decode the message contents into
*/
static inline void mavlink_msg_hil_optical_flow_decode(const mavlink_message_t* msg, mavlink_hil_optical_flow_t* hil_optical_flow)
{
#if MAVLINK_NEED_BYTE_SWAP
hil_optical_flow->time_usec = mavlink_msg_hil_optical_flow_get_time_usec(msg);
hil_optical_flow->flow_comp_m_x = mavlink_msg_hil_optical_flow_get_flow_comp_m_x(msg);
hil_optical_flow->flow_comp_m_y = mavlink_msg_hil_optical_flow_get_flow_comp_m_y(msg);
hil_optical_flow->ground_distance = mavlink_msg_hil_optical_flow_get_ground_distance(msg);
hil_optical_flow->flow_x = mavlink_msg_hil_optical_flow_get_flow_x(msg);
hil_optical_flow->flow_y = mavlink_msg_hil_optical_flow_get_flow_y(msg);
hil_optical_flow->sensor_id = mavlink_msg_hil_optical_flow_get_sensor_id(msg);
hil_optical_flow->quality = mavlink_msg_hil_optical_flow_get_quality(msg);
#else
memcpy(hil_optical_flow, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_hil_sensor.h
+471
View File
@@ -0,0 +1,471 @@
// MESSAGE HIL_SENSOR PACKING
#define MAVLINK_MSG_ID_HIL_SENSOR 107
typedef struct __mavlink_hil_sensor_t
{
uint64_t time_usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
float xacc; ///< X acceleration (m/s^2)
float yacc; ///< Y acceleration (m/s^2)
float zacc; ///< Z acceleration (m/s^2)
float xgyro; ///< Angular speed around X axis in body frame (rad / sec)
float ygyro; ///< Angular speed around Y axis in body frame (rad / sec)
float zgyro; ///< Angular speed around Z axis in body frame (rad / sec)
float xmag; ///< X Magnetic field (Gauss)
float ymag; ///< Y Magnetic field (Gauss)
float zmag; ///< Z Magnetic field (Gauss)
float abs_pressure; ///< Absolute pressure in millibar
float diff_pressure; ///< Differential pressure (airspeed) in millibar
float pressure_alt; ///< Altitude calculated from pressure
float temperature; ///< Temperature in degrees celsius
uint32_t fields_updated; ///< Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
} mavlink_hil_sensor_t;
#define MAVLINK_MSG_ID_HIL_SENSOR_LEN 64
#define MAVLINK_MSG_ID_107_LEN 64
#define MAVLINK_MSG_ID_HIL_SENSOR_CRC 108
#define MAVLINK_MSG_ID_107_CRC 108
#define MAVLINK_MESSAGE_INFO_HIL_SENSOR { \
"HIL_SENSOR", \
15, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_sensor_t, time_usec) }, \
{ "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_sensor_t, xacc) }, \
{ "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_sensor_t, yacc) }, \
{ "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_sensor_t, zacc) }, \
{ "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_sensor_t, xgyro) }, \
{ "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_sensor_t, ygyro) }, \
{ "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_sensor_t, zgyro) }, \
{ "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_sensor_t, xmag) }, \
{ "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_sensor_t, ymag) }, \
{ "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_hil_sensor_t, zmag) }, \
{ "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_hil_sensor_t, abs_pressure) }, \
{ "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_hil_sensor_t, diff_pressure) }, \
{ "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_hil_sensor_t, pressure_alt) }, \
{ "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_hil_sensor_t, temperature) }, \
{ "fields_updated", NULL, MAVLINK_TYPE_UINT32_T, 0, 60, offsetof(mavlink_hil_sensor_t, fields_updated) }, \
} \
}
/**
* @brief Pack a hil_sensor message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param xacc X acceleration (m/s^2)
* @param yacc Y acceleration (m/s^2)
* @param zacc Z acceleration (m/s^2)
* @param xgyro Angular speed around X axis in body frame (rad / sec)
* @param ygyro Angular speed around Y axis in body frame (rad / sec)
* @param zgyro Angular speed around Z axis in body frame (rad / sec)
* @param xmag X Magnetic field (Gauss)
* @param ymag Y Magnetic field (Gauss)
* @param zmag Z Magnetic field (Gauss)
* @param abs_pressure Absolute pressure in millibar
* @param diff_pressure Differential pressure (airspeed) in millibar
* @param pressure_alt Altitude calculated from pressure
* @param temperature Temperature in degrees celsius
* @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint32_t fields_updated)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, xacc);
_mav_put_float(buf, 12, yacc);
_mav_put_float(buf, 16, zacc);
_mav_put_float(buf, 20, xgyro);
_mav_put_float(buf, 24, ygyro);
_mav_put_float(buf, 28, zgyro);
_mav_put_float(buf, 32, xmag);
_mav_put_float(buf, 36, ymag);
_mav_put_float(buf, 40, zmag);
_mav_put_float(buf, 44, abs_pressure);
_mav_put_float(buf, 48, diff_pressure);
_mav_put_float(buf, 52, pressure_alt);
_mav_put_float(buf, 56, temperature);
_mav_put_uint32_t(buf, 60, fields_updated);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
#else
mavlink_hil_sensor_t packet;
packet.time_usec = time_usec;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
packet.abs_pressure = abs_pressure;
packet.diff_pressure = diff_pressure;
packet.pressure_alt = pressure_alt;
packet.temperature = temperature;
packet.fields_updated = fields_updated;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
#endif
}
/**
* @brief Pack a hil_sensor message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param xacc X acceleration (m/s^2)
* @param yacc Y acceleration (m/s^2)
* @param zacc Z acceleration (m/s^2)
* @param xgyro Angular speed around X axis in body frame (rad / sec)
* @param ygyro Angular speed around Y axis in body frame (rad / sec)
* @param zgyro Angular speed around Z axis in body frame (rad / sec)
* @param xmag X Magnetic field (Gauss)
* @param ymag Y Magnetic field (Gauss)
* @param zmag Z Magnetic field (Gauss)
* @param abs_pressure Absolute pressure in millibar
* @param diff_pressure Differential pressure (airspeed) in millibar
* @param pressure_alt Altitude calculated from pressure
* @param temperature Temperature in degrees celsius
* @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_sensor_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_usec,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature,uint32_t fields_updated)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, xacc);
_mav_put_float(buf, 12, yacc);
_mav_put_float(buf, 16, zacc);
_mav_put_float(buf, 20, xgyro);
_mav_put_float(buf, 24, ygyro);
_mav_put_float(buf, 28, zgyro);
_mav_put_float(buf, 32, xmag);
_mav_put_float(buf, 36, ymag);
_mav_put_float(buf, 40, zmag);
_mav_put_float(buf, 44, abs_pressure);
_mav_put_float(buf, 48, diff_pressure);
_mav_put_float(buf, 52, pressure_alt);
_mav_put_float(buf, 56, temperature);
_mav_put_uint32_t(buf, 60, fields_updated);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
#else
mavlink_hil_sensor_t packet;
packet.time_usec = time_usec;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
packet.abs_pressure = abs_pressure;
packet.diff_pressure = diff_pressure;
packet.pressure_alt = pressure_alt;
packet.temperature = temperature;
packet.fields_updated = fields_updated;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
#endif
}
/**
* @brief Encode a hil_sensor struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param hil_sensor C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_hil_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_sensor_t* hil_sensor)
{
return mavlink_msg_hil_sensor_pack(system_id, component_id, msg, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated);
}
/**
* @brief Send a hil_sensor message
* @param chan MAVLink channel to send the message
*
* @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param xacc X acceleration (m/s^2)
* @param yacc Y acceleration (m/s^2)
* @param zacc Z acceleration (m/s^2)
* @param xgyro Angular speed around X axis in body frame (rad / sec)
* @param ygyro Angular speed around Y axis in body frame (rad / sec)
* @param zgyro Angular speed around Z axis in body frame (rad / sec)
* @param xmag X Magnetic field (Gauss)
* @param ymag Y Magnetic field (Gauss)
* @param zmag Z Magnetic field (Gauss)
* @param abs_pressure Absolute pressure in millibar
* @param diff_pressure Differential pressure (airspeed) in millibar
* @param pressure_alt Altitude calculated from pressure
* @param temperature Temperature in degrees celsius
* @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_hil_sensor_send(mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint32_t fields_updated)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, xacc);
_mav_put_float(buf, 12, yacc);
_mav_put_float(buf, 16, zacc);
_mav_put_float(buf, 20, xgyro);
_mav_put_float(buf, 24, ygyro);
_mav_put_float(buf, 28, zgyro);
_mav_put_float(buf, 32, xmag);
_mav_put_float(buf, 36, ymag);
_mav_put_float(buf, 40, zmag);
_mav_put_float(buf, 44, abs_pressure);
_mav_put_float(buf, 48, diff_pressure);
_mav_put_float(buf, 52, pressure_alt);
_mav_put_float(buf, 56, temperature);
_mav_put_uint32_t(buf, 60, fields_updated);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
#endif
#else
mavlink_hil_sensor_t packet;
packet.time_usec = time_usec;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
packet.abs_pressure = abs_pressure;
packet.diff_pressure = diff_pressure;
packet.pressure_alt = pressure_alt;
packet.temperature = temperature;
packet.fields_updated = fields_updated;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
#endif
#endif
}
#endif
// MESSAGE HIL_SENSOR UNPACKING
/**
* @brief Get field time_usec from hil_sensor message
*
* @return Timestamp (microseconds, synced to UNIX time or since system boot)
*/
static inline uint64_t mavlink_msg_hil_sensor_get_time_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field xacc from hil_sensor message
*
* @return X acceleration (m/s^2)
*/
static inline float mavlink_msg_hil_sensor_get_xacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field yacc from hil_sensor message
*
* @return Y acceleration (m/s^2)
*/
static inline float mavlink_msg_hil_sensor_get_yacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field zacc from hil_sensor message
*
* @return Z acceleration (m/s^2)
*/
static inline float mavlink_msg_hil_sensor_get_zacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field xgyro from hil_sensor message
*
* @return Angular speed around X axis in body frame (rad / sec)
*/
static inline float mavlink_msg_hil_sensor_get_xgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field ygyro from hil_sensor message
*
* @return Angular speed around Y axis in body frame (rad / sec)
*/
static inline float mavlink_msg_hil_sensor_get_ygyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Get field zgyro from hil_sensor message
*
* @return Angular speed around Z axis in body frame (rad / sec)
*/
static inline float mavlink_msg_hil_sensor_get_zgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Get field xmag from hil_sensor message
*
* @return X Magnetic field (Gauss)
*/
static inline float mavlink_msg_hil_sensor_get_xmag(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 32);
}
/**
* @brief Get field ymag from hil_sensor message
*
* @return Y Magnetic field (Gauss)
*/
static inline float mavlink_msg_hil_sensor_get_ymag(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 36);
}
/**
* @brief Get field zmag from hil_sensor message
*
* @return Z Magnetic field (Gauss)
*/
static inline float mavlink_msg_hil_sensor_get_zmag(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 40);
}
/**
* @brief Get field abs_pressure from hil_sensor message
*
* @return Absolute pressure in millibar
*/
static inline float mavlink_msg_hil_sensor_get_abs_pressure(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 44);
}
/**
* @brief Get field diff_pressure from hil_sensor message
*
* @return Differential pressure (airspeed) in millibar
*/
static inline float mavlink_msg_hil_sensor_get_diff_pressure(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 48);
}
/**
* @brief Get field pressure_alt from hil_sensor message
*
* @return Altitude calculated from pressure
*/
static inline float mavlink_msg_hil_sensor_get_pressure_alt(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 52);
}
/**
* @brief Get field temperature from hil_sensor message
*
* @return Temperature in degrees celsius
*/
static inline float mavlink_msg_hil_sensor_get_temperature(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 56);
}
/**
* @brief Get field fields_updated from hil_sensor message
*
* @return Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
*/
static inline uint32_t mavlink_msg_hil_sensor_get_fields_updated(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 60);
}
/**
* @brief Decode a hil_sensor message into a struct
*
* @param msg The message to decode
* @param hil_sensor C-struct to decode the message contents into
*/
static inline void mavlink_msg_hil_sensor_decode(const mavlink_message_t* msg, mavlink_hil_sensor_t* hil_sensor)
{
#if MAVLINK_NEED_BYTE_SWAP
hil_sensor->time_usec = mavlink_msg_hil_sensor_get_time_usec(msg);
hil_sensor->xacc = mavlink_msg_hil_sensor_get_xacc(msg);
hil_sensor->yacc = mavlink_msg_hil_sensor_get_yacc(msg);
hil_sensor->zacc = mavlink_msg_hil_sensor_get_zacc(msg);
hil_sensor->xgyro = mavlink_msg_hil_sensor_get_xgyro(msg);
hil_sensor->ygyro = mavlink_msg_hil_sensor_get_ygyro(msg);
hil_sensor->zgyro = mavlink_msg_hil_sensor_get_zgyro(msg);
hil_sensor->xmag = mavlink_msg_hil_sensor_get_xmag(msg);
hil_sensor->ymag = mavlink_msg_hil_sensor_get_ymag(msg);
hil_sensor->zmag = mavlink_msg_hil_sensor_get_zmag(msg);
hil_sensor->abs_pressure = mavlink_msg_hil_sensor_get_abs_pressure(msg);
hil_sensor->diff_pressure = mavlink_msg_hil_sensor_get_diff_pressure(msg);
hil_sensor->pressure_alt = mavlink_msg_hil_sensor_get_pressure_alt(msg);
hil_sensor->temperature = mavlink_msg_hil_sensor_get_temperature(msg);
hil_sensor->fields_updated = mavlink_msg_hil_sensor_get_fields_updated(msg);
#else
memcpy(hil_sensor, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_SENSOR_LEN);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_hil_state_quaternion.h
+487
View File
@@ -0,0 +1,487 @@
// MESSAGE HIL_STATE_QUATERNION PACKING
#define MAVLINK_MSG_ID_HIL_STATE_QUATERNION 115
typedef struct __mavlink_hil_state_quaternion_t
{
uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float attitude_quaternion[4]; ///< Vehicle attitude expressed as normalized quaternion
float rollspeed; ///< Body frame roll / phi angular speed (rad/s)
float pitchspeed; ///< Body frame pitch / theta angular speed (rad/s)
float yawspeed; ///< Body frame yaw / psi angular speed (rad/s)
int32_t lat; ///< Latitude, expressed as * 1E7
int32_t lon; ///< Longitude, expressed as * 1E7
int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
uint16_t ind_airspeed; ///< Indicated airspeed, expressed as m/s * 100
uint16_t true_airspeed; ///< True airspeed, expressed as m/s * 100
int16_t xacc; ///< X acceleration (mg)
int16_t yacc; ///< Y acceleration (mg)
int16_t zacc; ///< Z acceleration (mg)
} mavlink_hil_state_quaternion_t;
#define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN 64
#define MAVLINK_MSG_ID_115_LEN 64
#define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC 4
#define MAVLINK_MSG_ID_115_CRC 4
#define MAVLINK_MSG_HIL_STATE_QUATERNION_FIELD_ATTITUDE_QUATERNION_LEN 4
#define MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION { \
"HIL_STATE_QUATERNION", \
16, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_quaternion_t, time_usec) }, \
{ "attitude_quaternion", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_hil_state_quaternion_t, attitude_quaternion) }, \
{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_quaternion_t, rollspeed) }, \
{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_quaternion_t, pitchspeed) }, \
{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_state_quaternion_t, yawspeed) }, \
{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_quaternion_t, lat) }, \
{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_quaternion_t, lon) }, \
{ "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_hil_state_quaternion_t, alt) }, \
{ "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_quaternion_t, vx) }, \
{ "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_quaternion_t, vy) }, \
{ "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_quaternion_t, vz) }, \
{ "ind_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 54, offsetof(mavlink_hil_state_quaternion_t, ind_airspeed) }, \
{ "true_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 56, offsetof(mavlink_hil_state_quaternion_t, true_airspeed) }, \
{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 58, offsetof(mavlink_hil_state_quaternion_t, xacc) }, \
{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 60, offsetof(mavlink_hil_state_quaternion_t, yacc) }, \
{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 62, offsetof(mavlink_hil_state_quaternion_t, zacc) }, \
} \
}
/**
* @brief Pack a hil_state_quaternion message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param attitude_quaternion Vehicle attitude expressed as normalized quaternion
* @param rollspeed Body frame roll / phi angular speed (rad/s)
* @param pitchspeed Body frame pitch / theta angular speed (rad/s)
* @param yawspeed Body frame yaw / psi angular speed (rad/s)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @param ind_airspeed Indicated airspeed, expressed as m/s * 100
* @param true_airspeed True airspeed, expressed as m/s * 100
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_state_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 24, rollspeed);
_mav_put_float(buf, 28, pitchspeed);
_mav_put_float(buf, 32, yawspeed);
_mav_put_int32_t(buf, 36, lat);
_mav_put_int32_t(buf, 40, lon);
_mav_put_int32_t(buf, 44, alt);
_mav_put_int16_t(buf, 48, vx);
_mav_put_int16_t(buf, 50, vy);
_mav_put_int16_t(buf, 52, vz);
_mav_put_uint16_t(buf, 54, ind_airspeed);
_mav_put_uint16_t(buf, 56, true_airspeed);
_mav_put_int16_t(buf, 58, xacc);
_mav_put_int16_t(buf, 60, yacc);
_mav_put_int16_t(buf, 62, zacc);
_mav_put_float_array(buf, 8, attitude_quaternion, 4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
#else
mavlink_hil_state_quaternion_t packet;
packet.time_usec = time_usec;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
packet.ind_airspeed = ind_airspeed;
packet.true_airspeed = true_airspeed;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
#endif
}
/**
* @brief Pack a hil_state_quaternion message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param attitude_quaternion Vehicle attitude expressed as normalized quaternion
* @param rollspeed Body frame roll / phi angular speed (rad/s)
* @param pitchspeed Body frame pitch / theta angular speed (rad/s)
* @param yawspeed Body frame yaw / psi angular speed (rad/s)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @param ind_airspeed Indicated airspeed, expressed as m/s * 100
* @param true_airspeed True airspeed, expressed as m/s * 100
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_state_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_usec,const float *attitude_quaternion,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,uint16_t ind_airspeed,uint16_t true_airspeed,int16_t xacc,int16_t yacc,int16_t zacc)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 24, rollspeed);
_mav_put_float(buf, 28, pitchspeed);
_mav_put_float(buf, 32, yawspeed);
_mav_put_int32_t(buf, 36, lat);
_mav_put_int32_t(buf, 40, lon);
_mav_put_int32_t(buf, 44, alt);
_mav_put_int16_t(buf, 48, vx);
_mav_put_int16_t(buf, 50, vy);
_mav_put_int16_t(buf, 52, vz);
_mav_put_uint16_t(buf, 54, ind_airspeed);
_mav_put_uint16_t(buf, 56, true_airspeed);
_mav_put_int16_t(buf, 58, xacc);
_mav_put_int16_t(buf, 60, yacc);
_mav_put_int16_t(buf, 62, zacc);
_mav_put_float_array(buf, 8, attitude_quaternion, 4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
#else
mavlink_hil_state_quaternion_t packet;
packet.time_usec = time_usec;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
packet.ind_airspeed = ind_airspeed;
packet.true_airspeed = true_airspeed;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
#endif
}
/**
* @brief Encode a hil_state_quaternion struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param hil_state_quaternion C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_hil_state_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_quaternion_t* hil_state_quaternion)
{
return mavlink_msg_hil_state_quaternion_pack(system_id, component_id, msg, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc);
}
/**
* @brief Send a hil_state_quaternion message
* @param chan MAVLink channel to send the message
*
* @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param attitude_quaternion Vehicle attitude expressed as normalized quaternion
* @param rollspeed Body frame roll / phi angular speed (rad/s)
* @param pitchspeed Body frame pitch / theta angular speed (rad/s)
* @param yawspeed Body frame yaw / psi angular speed (rad/s)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @param ind_airspeed Indicated airspeed, expressed as m/s * 100
* @param true_airspeed True airspeed, expressed as m/s * 100
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_hil_state_quaternion_send(mavlink_channel_t chan, uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 24, rollspeed);
_mav_put_float(buf, 28, pitchspeed);
_mav_put_float(buf, 32, yawspeed);
_mav_put_int32_t(buf, 36, lat);
_mav_put_int32_t(buf, 40, lon);
_mav_put_int32_t(buf, 44, alt);
_mav_put_int16_t(buf, 48, vx);
_mav_put_int16_t(buf, 50, vy);
_mav_put_int16_t(buf, 52, vz);
_mav_put_uint16_t(buf, 54, ind_airspeed);
_mav_put_uint16_t(buf, 56, true_airspeed);
_mav_put_int16_t(buf, 58, xacc);
_mav_put_int16_t(buf, 60, yacc);
_mav_put_int16_t(buf, 62, zacc);
_mav_put_float_array(buf, 8, attitude_quaternion, 4);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
#endif
#else
mavlink_hil_state_quaternion_t packet;
packet.time_usec = time_usec;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
packet.ind_airspeed = ind_airspeed;
packet.true_airspeed = true_airspeed;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
#endif
#endif
}
#endif
// MESSAGE HIL_STATE_QUATERNION UNPACKING
/**
* @brief Get field time_usec from hil_state_quaternion message
*
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
*/
static inline uint64_t mavlink_msg_hil_state_quaternion_get_time_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field attitude_quaternion from hil_state_quaternion message
*
* @return Vehicle attitude expressed as normalized quaternion
*/
static inline uint16_t mavlink_msg_hil_state_quaternion_get_attitude_quaternion(const mavlink_message_t* msg, float *attitude_quaternion)
{
return _MAV_RETURN_float_array(msg, attitude_quaternion, 4, 8);
}
/**
* @brief Get field rollspeed from hil_state_quaternion message
*
* @return Body frame roll / phi angular speed (rad/s)
*/
static inline float mavlink_msg_hil_state_quaternion_get_rollspeed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Get field pitchspeed from hil_state_quaternion message
*
* @return Body frame pitch / theta angular speed (rad/s)
*/
static inline float mavlink_msg_hil_state_quaternion_get_pitchspeed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Get field yawspeed from hil_state_quaternion message
*
* @return Body frame yaw / psi angular speed (rad/s)
*/
static inline float mavlink_msg_hil_state_quaternion_get_yawspeed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 32);
}
/**
* @brief Get field lat from hil_state_quaternion message
*
* @return Latitude, expressed as * 1E7
*/
static inline int32_t mavlink_msg_hil_state_quaternion_get_lat(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 36);
}
/**
* @brief Get field lon from hil_state_quaternion message
*
* @return Longitude, expressed as * 1E7
*/
static inline int32_t mavlink_msg_hil_state_quaternion_get_lon(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 40);
}
/**
* @brief Get field alt from hil_state_quaternion message
*
* @return Altitude in meters, expressed as * 1000 (millimeters)
*/
static inline int32_t mavlink_msg_hil_state_quaternion_get_alt(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 44);
}
/**
* @brief Get field vx from hil_state_quaternion message
*
* @return Ground X Speed (Latitude), expressed as m/s * 100
*/
static inline int16_t mavlink_msg_hil_state_quaternion_get_vx(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 48);
}
/**
* @brief Get field vy from hil_state_quaternion message
*
* @return Ground Y Speed (Longitude), expressed as m/s * 100
*/
static inline int16_t mavlink_msg_hil_state_quaternion_get_vy(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 50);
}
/**
* @brief Get field vz from hil_state_quaternion message
*
* @return Ground Z Speed (Altitude), expressed as m/s * 100
*/
static inline int16_t mavlink_msg_hil_state_quaternion_get_vz(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 52);
}
/**
* @brief Get field ind_airspeed from hil_state_quaternion message
*
* @return Indicated airspeed, expressed as m/s * 100
*/
static inline uint16_t mavlink_msg_hil_state_quaternion_get_ind_airspeed(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 54);
}
/**
* @brief Get field true_airspeed from hil_state_quaternion message
*
* @return True airspeed, expressed as m/s * 100
*/
static inline uint16_t mavlink_msg_hil_state_quaternion_get_true_airspeed(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 56);
}
/**
* @brief Get field xacc from hil_state_quaternion message
*
* @return X acceleration (mg)
*/
static inline int16_t mavlink_msg_hil_state_quaternion_get_xacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 58);
}
/**
* @brief Get field yacc from hil_state_quaternion message
*
* @return Y acceleration (mg)
*/
static inline int16_t mavlink_msg_hil_state_quaternion_get_yacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 60);
}
/**
* @brief Get field zacc from hil_state_quaternion message
*
* @return Z acceleration (mg)
*/
static inline int16_t mavlink_msg_hil_state_quaternion_get_zacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 62);
}
/**
* @brief Decode a hil_state_quaternion message into a struct
*
* @param msg The message to decode
* @param hil_state_quaternion C-struct to decode the message contents into
*/
static inline void mavlink_msg_hil_state_quaternion_decode(const mavlink_message_t* msg, mavlink_hil_state_quaternion_t* hil_state_quaternion)
{
#if MAVLINK_NEED_BYTE_SWAP
hil_state_quaternion->time_usec = mavlink_msg_hil_state_quaternion_get_time_usec(msg);
mavlink_msg_hil_state_quaternion_get_attitude_quaternion(msg, hil_state_quaternion->attitude_quaternion);
hil_state_quaternion->rollspeed = mavlink_msg_hil_state_quaternion_get_rollspeed(msg);
hil_state_quaternion->pitchspeed = mavlink_msg_hil_state_quaternion_get_pitchspeed(msg);
hil_state_quaternion->yawspeed = mavlink_msg_hil_state_quaternion_get_yawspeed(msg);
hil_state_quaternion->lat = mavlink_msg_hil_state_quaternion_get_lat(msg);
hil_state_quaternion->lon = mavlink_msg_hil_state_quaternion_get_lon(msg);
hil_state_quaternion->alt = mavlink_msg_hil_state_quaternion_get_alt(msg);
hil_state_quaternion->vx = mavlink_msg_hil_state_quaternion_get_vx(msg);
hil_state_quaternion->vy = mavlink_msg_hil_state_quaternion_get_vy(msg);
hil_state_quaternion->vz = mavlink_msg_hil_state_quaternion_get_vz(msg);
hil_state_quaternion->ind_airspeed = mavlink_msg_hil_state_quaternion_get_ind_airspeed(msg);
hil_state_quaternion->true_airspeed = mavlink_msg_hil_state_quaternion_get_true_airspeed(msg);
hil_state_quaternion->xacc = mavlink_msg_hil_state_quaternion_get_xacc(msg);
hil_state_quaternion->yacc = mavlink_msg_hil_state_quaternion_get_yacc(msg);
hil_state_quaternion->zacc = mavlink_msg_hil_state_quaternion_get_zacc(msg);
#else
memcpy(hil_state_quaternion, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_local_position.h
-276
View File
@@ -1,276 +0,0 @@
// MESSAGE LOCAL_POSITION PACKING
#define MAVLINK_MSG_ID_LOCAL_POSITION 31
typedef struct __mavlink_local_position_t
{
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float x; ///< X Position
float y; ///< Y Position
float z; ///< Z Position
float vx; ///< X Speed
float vy; ///< Y Speed
float vz; ///< Z Speed
} mavlink_local_position_t;
#define MAVLINK_MSG_ID_LOCAL_POSITION_LEN 32
#define MAVLINK_MSG_ID_31_LEN 32
#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION { \
"LOCAL_POSITION", \
7, \
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_local_position_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_t, y) }, \
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_t, z) }, \
{ "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_t, vx) }, \
{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_t, vy) }, \
{ "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_local_position_t, vz) }, \
} \
}
/**
* @brief Pack a local_position message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param x X Position
* @param y Y Position
* @param z Z Position
* @param vx X Speed
* @param vy Y Speed
* @param vz Z Speed
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_local_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, float x, float y, float z, float vx, float vy, float vz)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_float(buf, 20, vx);
_mav_put_float(buf, 24, vy);
_mav_put_float(buf, 28, vz);
memcpy(_MAV_PAYLOAD(msg), buf, 32);
#else
mavlink_local_position_t packet;
packet.usec = usec;
packet.x = x;
packet.y = y;
packet.z = z;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
#endif
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION;
return mavlink_finalize_message(msg, system_id, component_id, 32, 126);
}
/**
* @brief Pack a local_position message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param x X Position
* @param y Y Position
* @param z Z Position
* @param vx X Speed
* @param vy Y Speed
* @param vz Z Speed
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_local_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,float x,float y,float z,float vx,float vy,float vz)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_float(buf, 20, vx);
_mav_put_float(buf, 24, vy);
_mav_put_float(buf, 28, vz);
memcpy(_MAV_PAYLOAD(msg), buf, 32);
#else
mavlink_local_position_t packet;
packet.usec = usec;
packet.x = x;
packet.y = y;
packet.z = z;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
#endif
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 126);
}
/**
* @brief Encode a local_position struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param local_position C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_local_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_t* local_position)
{
return mavlink_msg_local_position_pack(system_id, component_id, msg, local_position->usec, local_position->x, local_position->y, local_position->z, local_position->vx, local_position->vy, local_position->vz);
}
/**
* @brief Send a local_position message
* @param chan MAVLink channel to send the message
*
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param x X Position
* @param y Y Position
* @param z Z Position
* @param vx X Speed
* @param vy Y Speed
* @param vz Z Speed
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_local_position_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float vx, float vy, float vz)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_float(buf, 20, vx);
_mav_put_float(buf, 24, vy);
_mav_put_float(buf, 28, vz);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION, buf, 32, 126);
#else
mavlink_local_position_t packet;
packet.usec = usec;
packet.x = x;
packet.y = y;
packet.z = z;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION, (const char *)&packet, 32, 126);
#endif
}
#endif
// MESSAGE LOCAL_POSITION UNPACKING
/**
* @brief Get field usec from local_position message
*
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
*/
static inline uint64_t mavlink_msg_local_position_get_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field x from local_position message
*
* @return X Position
*/
static inline float mavlink_msg_local_position_get_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field y from local_position message
*
* @return Y Position
*/
static inline float mavlink_msg_local_position_get_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field z from local_position message
*
* @return Z Position
*/
static inline float mavlink_msg_local_position_get_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field vx from local_position message
*
* @return X Speed
*/
static inline float mavlink_msg_local_position_get_vx(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field vy from local_position message
*
* @return Y Speed
*/
static inline float mavlink_msg_local_position_get_vy(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Get field vz from local_position message
*
* @return Z Speed
*/
static inline float mavlink_msg_local_position_get_vz(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Decode a local_position message into a struct
*
* @param msg The message to decode
* @param local_position C-struct to decode the message contents into
*/
static inline void mavlink_msg_local_position_decode(const mavlink_message_t* msg, mavlink_local_position_t* local_position)
{
#if MAVLINK_NEED_BYTE_SWAP
local_position->usec = mavlink_msg_local_position_get_usec(msg);
local_position->x = mavlink_msg_local_position_get_x(msg);
local_position->y = mavlink_msg_local_position_get_y(msg);
local_position->z = mavlink_msg_local_position_get_z(msg);
local_position->vx = mavlink_msg_local_position_get_vx(msg);
local_position->vy = mavlink_msg_local_position_get_vy(msg);
local_position->vz = mavlink_msg_local_position_get_vz(msg);
#else
memcpy(local_position, _MAV_PAYLOAD(msg), 32);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_local_position_setpoint_set.h
-254
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@@ -1,254 +0,0 @@
// MESSAGE LOCAL_POSITION_SETPOINT_SET PACKING
#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET 50
typedef struct __mavlink_local_position_setpoint_set_t
{
float x; ///< x position
float y; ///< y position
float z; ///< z position
float yaw; ///< Desired yaw angle
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
} mavlink_local_position_setpoint_set_t;
#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET_LEN 18
#define MAVLINK_MSG_ID_50_LEN 18
#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET { \
"LOCAL_POSITION_SETPOINT_SET", \
6, \
{ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_local_position_setpoint_set_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_setpoint_set_t, y) }, \
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_setpoint_set_t, z) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_setpoint_set_t, yaw) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_local_position_setpoint_set_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_local_position_setpoint_set_t, target_component) }, \
} \
}
/**
* @brief Pack a local_position_setpoint_set message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @param x x position
* @param y y position
* @param z z position
* @param yaw Desired yaw angle
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_local_position_setpoint_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_float(buf, 0, x);
_mav_put_float(buf, 4, y);
_mav_put_float(buf, 8, z);
_mav_put_float(buf, 12, yaw);
_mav_put_uint8_t(buf, 16, target_system);
_mav_put_uint8_t(buf, 17, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 18);
#else
mavlink_local_position_setpoint_set_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET;
return mavlink_finalize_message(msg, system_id, component_id, 18, 73);
}
/**
* @brief Pack a local_position_setpoint_set message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param x x position
* @param y y position
* @param z z position
* @param yaw Desired yaw angle
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_local_position_setpoint_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,float x,float y,float z,float yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_float(buf, 0, x);
_mav_put_float(buf, 4, y);
_mav_put_float(buf, 8, z);
_mav_put_float(buf, 12, yaw);
_mav_put_uint8_t(buf, 16, target_system);
_mav_put_uint8_t(buf, 17, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 18);
#else
mavlink_local_position_setpoint_set_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 73);
}
/**
* @brief Encode a local_position_setpoint_set struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param local_position_setpoint_set C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_local_position_setpoint_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_setpoint_set_t* local_position_setpoint_set)
{
return mavlink_msg_local_position_setpoint_set_pack(system_id, component_id, msg, local_position_setpoint_set->target_system, local_position_setpoint_set->target_component, local_position_setpoint_set->x, local_position_setpoint_set->y, local_position_setpoint_set->z, local_position_setpoint_set->yaw);
}
/**
* @brief Send a local_position_setpoint_set message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param x x position
* @param y y position
* @param z z position
* @param yaw Desired yaw angle
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_local_position_setpoint_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_float(buf, 0, x);
_mav_put_float(buf, 4, y);
_mav_put_float(buf, 8, z);
_mav_put_float(buf, 12, yaw);
_mav_put_uint8_t(buf, 16, target_system);
_mav_put_uint8_t(buf, 17, target_component);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET, buf, 18, 73);
#else
mavlink_local_position_setpoint_set_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
packet.target_system = target_system;
packet.target_component = target_component;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET, (const char *)&packet, 18, 73);
#endif
}
#endif
// MESSAGE LOCAL_POSITION_SETPOINT_SET UNPACKING
/**
* @brief Get field target_system from local_position_setpoint_set message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_local_position_setpoint_set_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 16);
}
/**
* @brief Get field target_component from local_position_setpoint_set message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_local_position_setpoint_set_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 17);
}
/**
* @brief Get field x from local_position_setpoint_set message
*
* @return x position
*/
static inline float mavlink_msg_local_position_setpoint_set_get_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field y from local_position_setpoint_set message
*
* @return y position
*/
static inline float mavlink_msg_local_position_setpoint_set_get_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field z from local_position_setpoint_set message
*
* @return z position
*/
static inline float mavlink_msg_local_position_setpoint_set_get_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field yaw from local_position_setpoint_set message
*
* @return Desired yaw angle
*/
static inline float mavlink_msg_local_position_setpoint_set_get_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Decode a local_position_setpoint_set message into a struct
*
* @param msg The message to decode
* @param local_position_setpoint_set C-struct to decode the message contents into
*/
static inline void mavlink_msg_local_position_setpoint_set_decode(const mavlink_message_t* msg, mavlink_local_position_setpoint_set_t* local_position_setpoint_set)
{
#if MAVLINK_NEED_BYTE_SWAP
local_position_setpoint_set->x = mavlink_msg_local_position_setpoint_set_get_x(msg);
local_position_setpoint_set->y = mavlink_msg_local_position_setpoint_set_get_y(msg);
local_position_setpoint_set->z = mavlink_msg_local_position_setpoint_set_get_z(msg);
local_position_setpoint_set->yaw = mavlink_msg_local_position_setpoint_set_get_yaw(msg);
local_position_setpoint_set->target_system = mavlink_msg_local_position_setpoint_set_get_target_system(msg);
local_position_setpoint_set->target_component = mavlink_msg_local_position_setpoint_set_get_target_component(msg);
#else
memcpy(local_position_setpoint_set, _MAV_PAYLOAD(msg), 18);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_object_detection_event.h
-270
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@@ -1,270 +0,0 @@
// MESSAGE OBJECT_DETECTION_EVENT PACKING
#define MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT 140
typedef struct __mavlink_object_detection_event_t
{
uint32_t time; ///< Timestamp in milliseconds since system boot
float bearing; ///< Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
float distance; ///< Ground distance in meters
uint16_t object_id; ///< Object ID
uint8_t type; ///< Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
char name[20]; ///< Name of the object as defined by the detector
uint8_t quality; ///< Detection quality / confidence. 0: bad, 255: maximum confidence
} mavlink_object_detection_event_t;
#define MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT_LEN 36
#define MAVLINK_MSG_ID_140_LEN 36
#define MAVLINK_MSG_OBJECT_DETECTION_EVENT_FIELD_NAME_LEN 20
#define MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT { \
"OBJECT_DETECTION_EVENT", \
7, \
{ { "time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_object_detection_event_t, time) }, \
{ "bearing", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_object_detection_event_t, bearing) }, \
{ "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_object_detection_event_t, distance) }, \
{ "object_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_object_detection_event_t, object_id) }, \
{ "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_object_detection_event_t, type) }, \
{ "name", NULL, MAVLINK_TYPE_CHAR, 20, 15, offsetof(mavlink_object_detection_event_t, name) }, \
{ "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_object_detection_event_t, quality) }, \
} \
}
/**
* @brief Pack a object_detection_event message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param time Timestamp in milliseconds since system boot
* @param object_id Object ID
* @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
* @param name Name of the object as defined by the detector
* @param quality Detection quality / confidence. 0: bad, 255: maximum confidence
* @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
* @param distance Ground distance in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_object_detection_event_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t time, uint16_t object_id, uint8_t type, const char *name, uint8_t quality, float bearing, float distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
_mav_put_uint32_t(buf, 0, time);
_mav_put_float(buf, 4, bearing);
_mav_put_float(buf, 8, distance);
_mav_put_uint16_t(buf, 12, object_id);
_mav_put_uint8_t(buf, 14, type);
_mav_put_uint8_t(buf, 35, quality);
_mav_put_char_array(buf, 15, name, 20);
memcpy(_MAV_PAYLOAD(msg), buf, 36);
#else
mavlink_object_detection_event_t packet;
packet.time = time;
packet.bearing = bearing;
packet.distance = distance;
packet.object_id = object_id;
packet.type = type;
packet.quality = quality;
mav_array_memcpy(packet.name, name, sizeof(char)*20);
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
#endif
msg->msgid = MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT;
return mavlink_finalize_message(msg, system_id, component_id, 36, 179);
}
/**
* @brief Pack a object_detection_event message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param time Timestamp in milliseconds since system boot
* @param object_id Object ID
* @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
* @param name Name of the object as defined by the detector
* @param quality Detection quality / confidence. 0: bad, 255: maximum confidence
* @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
* @param distance Ground distance in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_object_detection_event_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t time,uint16_t object_id,uint8_t type,const char *name,uint8_t quality,float bearing,float distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
_mav_put_uint32_t(buf, 0, time);
_mav_put_float(buf, 4, bearing);
_mav_put_float(buf, 8, distance);
_mav_put_uint16_t(buf, 12, object_id);
_mav_put_uint8_t(buf, 14, type);
_mav_put_uint8_t(buf, 35, quality);
_mav_put_char_array(buf, 15, name, 20);
memcpy(_MAV_PAYLOAD(msg), buf, 36);
#else
mavlink_object_detection_event_t packet;
packet.time = time;
packet.bearing = bearing;
packet.distance = distance;
packet.object_id = object_id;
packet.type = type;
packet.quality = quality;
mav_array_memcpy(packet.name, name, sizeof(char)*20);
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
#endif
msg->msgid = MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36, 179);
}
/**
* @brief Encode a object_detection_event struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param object_detection_event C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_object_detection_event_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_object_detection_event_t* object_detection_event)
{
return mavlink_msg_object_detection_event_pack(system_id, component_id, msg, object_detection_event->time, object_detection_event->object_id, object_detection_event->type, object_detection_event->name, object_detection_event->quality, object_detection_event->bearing, object_detection_event->distance);
}
/**
* @brief Send a object_detection_event message
* @param chan MAVLink channel to send the message
*
* @param time Timestamp in milliseconds since system boot
* @param object_id Object ID
* @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
* @param name Name of the object as defined by the detector
* @param quality Detection quality / confidence. 0: bad, 255: maximum confidence
* @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
* @param distance Ground distance in meters
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_object_detection_event_send(mavlink_channel_t chan, uint32_t time, uint16_t object_id, uint8_t type, const char *name, uint8_t quality, float bearing, float distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
_mav_put_uint32_t(buf, 0, time);
_mav_put_float(buf, 4, bearing);
_mav_put_float(buf, 8, distance);
_mav_put_uint16_t(buf, 12, object_id);
_mav_put_uint8_t(buf, 14, type);
_mav_put_uint8_t(buf, 35, quality);
_mav_put_char_array(buf, 15, name, 20);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT, buf, 36, 179);
#else
mavlink_object_detection_event_t packet;
packet.time = time;
packet.bearing = bearing;
packet.distance = distance;
packet.object_id = object_id;
packet.type = type;
packet.quality = quality;
mav_array_memcpy(packet.name, name, sizeof(char)*20);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT, (const char *)&packet, 36, 179);
#endif
}
#endif
// MESSAGE OBJECT_DETECTION_EVENT UNPACKING
/**
* @brief Get field time from object_detection_event message
*
* @return Timestamp in milliseconds since system boot
*/
static inline uint32_t mavlink_msg_object_detection_event_get_time(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field object_id from object_detection_event message
*
* @return Object ID
*/
static inline uint16_t mavlink_msg_object_detection_event_get_object_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 12);
}
/**
* @brief Get field type from object_detection_event message
*
* @return Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
*/
static inline uint8_t mavlink_msg_object_detection_event_get_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 14);
}
/**
* @brief Get field name from object_detection_event message
*
* @return Name of the object as defined by the detector
*/
static inline uint16_t mavlink_msg_object_detection_event_get_name(const mavlink_message_t* msg, char *name)
{
return _MAV_RETURN_char_array(msg, name, 20, 15);
}
/**
* @brief Get field quality from object_detection_event message
*
* @return Detection quality / confidence. 0: bad, 255: maximum confidence
*/
static inline uint8_t mavlink_msg_object_detection_event_get_quality(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 35);
}
/**
* @brief Get field bearing from object_detection_event message
*
* @return Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
*/
static inline float mavlink_msg_object_detection_event_get_bearing(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field distance from object_detection_event message
*
* @return Ground distance in meters
*/
static inline float mavlink_msg_object_detection_event_get_distance(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Decode a object_detection_event message into a struct
*
* @param msg The message to decode
* @param object_detection_event C-struct to decode the message contents into
*/
static inline void mavlink_msg_object_detection_event_decode(const mavlink_message_t* msg, mavlink_object_detection_event_t* object_detection_event)
{
#if MAVLINK_NEED_BYTE_SWAP
object_detection_event->time = mavlink_msg_object_detection_event_get_time(msg);
object_detection_event->bearing = mavlink_msg_object_detection_event_get_bearing(msg);
object_detection_event->distance = mavlink_msg_object_detection_event_get_distance(msg);
object_detection_event->object_id = mavlink_msg_object_detection_event_get_object_id(msg);
object_detection_event->type = mavlink_msg_object_detection_event_get_type(msg);
mavlink_msg_object_detection_event_get_name(msg, object_detection_event->name);
object_detection_event->quality = mavlink_msg_object_detection_event_get_quality(msg);
#else
memcpy(object_detection_event, _MAV_PAYLOAD(msg), 36);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_position_target.h
-210
View File
@@ -1,210 +0,0 @@
// MESSAGE POSITION_TARGET PACKING
#define MAVLINK_MSG_ID_POSITION_TARGET 63
typedef struct __mavlink_position_target_t
{
float x; ///< x position
float y; ///< y position
float z; ///< z position
float yaw; ///< yaw orientation in radians, 0 = NORTH
} mavlink_position_target_t;
#define MAVLINK_MSG_ID_POSITION_TARGET_LEN 16
#define MAVLINK_MSG_ID_63_LEN 16
#define MAVLINK_MESSAGE_INFO_POSITION_TARGET { \
"POSITION_TARGET", \
4, \
{ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_position_target_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_target_t, y) }, \
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_target_t, z) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_target_t, yaw) }, \
} \
}
/**
* @brief Pack a position_target message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param x x position
* @param y y position
* @param z z position
* @param yaw yaw orientation in radians, 0 = NORTH
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_position_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float x, float y, float z, float yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_float(buf, 0, x);
_mav_put_float(buf, 4, y);
_mav_put_float(buf, 8, z);
_mav_put_float(buf, 12, yaw);
memcpy(_MAV_PAYLOAD(msg), buf, 16);
#else
mavlink_position_target_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
#endif
msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;
return mavlink_finalize_message(msg, system_id, component_id, 16, 126);
}
/**
* @brief Pack a position_target message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param x x position
* @param y y position
* @param z z position
* @param yaw yaw orientation in radians, 0 = NORTH
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_position_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float x,float y,float z,float yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_float(buf, 0, x);
_mav_put_float(buf, 4, y);
_mav_put_float(buf, 8, z);
_mav_put_float(buf, 12, yaw);
memcpy(_MAV_PAYLOAD(msg), buf, 16);
#else
mavlink_position_target_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
#endif
msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16, 126);
}
/**
* @brief Encode a position_target struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param position_target C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_position_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_target_t* position_target)
{
return mavlink_msg_position_target_pack(system_id, component_id, msg, position_target->x, position_target->y, position_target->z, position_target->yaw);
}
/**
* @brief Send a position_target message
* @param chan MAVLink channel to send the message
*
* @param x x position
* @param y y position
* @param z z position
* @param yaw yaw orientation in radians, 0 = NORTH
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_position_target_send(mavlink_channel_t chan, float x, float y, float z, float yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_float(buf, 0, x);
_mav_put_float(buf, 4, y);
_mav_put_float(buf, 8, z);
_mav_put_float(buf, 12, yaw);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET, buf, 16, 126);
#else
mavlink_position_target_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET, (const char *)&packet, 16, 126);
#endif
}
#endif
// MESSAGE POSITION_TARGET UNPACKING
/**
* @brief Get field x from position_target message
*
* @return x position
*/
static inline float mavlink_msg_position_target_get_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field y from position_target message
*
* @return y position
*/
static inline float mavlink_msg_position_target_get_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field z from position_target message
*
* @return z position
*/
static inline float mavlink_msg_position_target_get_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field yaw from position_target message
*
* @return yaw orientation in radians, 0 = NORTH
*/
static inline float mavlink_msg_position_target_get_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Decode a position_target message into a struct
*
* @param msg The message to decode
* @param position_target C-struct to decode the message contents into
*/
static inline void mavlink_msg_position_target_decode(const mavlink_message_t* msg, mavlink_position_target_t* position_target)
{
#if MAVLINK_NEED_BYTE_SWAP
position_target->x = mavlink_msg_position_target_get_x(msg);
position_target->y = mavlink_msg_position_target_get_y(msg);
position_target->z = mavlink_msg_position_target_get_z(msg);
position_target->yaw = mavlink_msg_position_target_get_yaw(msg);
#else
memcpy(position_target, _MAV_PAYLOAD(msg), 16);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_radio_status.h
+295
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@@ -0,0 +1,295 @@
// MESSAGE RADIO_STATUS PACKING
#define MAVLINK_MSG_ID_RADIO_STATUS 109
typedef struct __mavlink_radio_status_t
{
uint16_t rxerrors; ///< receive errors
uint16_t fixed; ///< count of error corrected packets
uint8_t rssi; ///< local signal strength
uint8_t remrssi; ///< remote signal strength
uint8_t txbuf; ///< how full the tx buffer is as a percentage
uint8_t noise; ///< background noise level
uint8_t remnoise; ///< remote background noise level
} mavlink_radio_status_t;
#define MAVLINK_MSG_ID_RADIO_STATUS_LEN 9
#define MAVLINK_MSG_ID_109_LEN 9
#define MAVLINK_MSG_ID_RADIO_STATUS_CRC 185
#define MAVLINK_MSG_ID_109_CRC 185
#define MAVLINK_MESSAGE_INFO_RADIO_STATUS { \
"RADIO_STATUS", \
7, \
{ { "rxerrors", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_radio_status_t, rxerrors) }, \
{ "fixed", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_radio_status_t, fixed) }, \
{ "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_radio_status_t, rssi) }, \
{ "remrssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_radio_status_t, remrssi) }, \
{ "txbuf", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_radio_status_t, txbuf) }, \
{ "noise", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_radio_status_t, noise) }, \
{ "remnoise", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_radio_status_t, remnoise) }, \
} \
}
/**
* @brief Pack a radio_status message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param rssi local signal strength
* @param remrssi remote signal strength
* @param txbuf how full the tx buffer is as a percentage
* @param noise background noise level
* @param remnoise remote background noise level
* @param rxerrors receive errors
* @param fixed count of error corrected packets
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_radio_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RADIO_STATUS_LEN];
_mav_put_uint16_t(buf, 0, rxerrors);
_mav_put_uint16_t(buf, 2, fixed);
_mav_put_uint8_t(buf, 4, rssi);
_mav_put_uint8_t(buf, 5, remrssi);
_mav_put_uint8_t(buf, 6, txbuf);
_mav_put_uint8_t(buf, 7, noise);
_mav_put_uint8_t(buf, 8, remnoise);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RADIO_STATUS_LEN);
#else
mavlink_radio_status_t packet;
packet.rxerrors = rxerrors;
packet.fixed = fixed;
packet.rssi = rssi;
packet.remrssi = remrssi;
packet.txbuf = txbuf;
packet.noise = noise;
packet.remnoise = remnoise;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RADIO_STATUS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_RADIO_STATUS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RADIO_STATUS_LEN, MAVLINK_MSG_ID_RADIO_STATUS_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RADIO_STATUS_LEN);
#endif
}
/**
* @brief Pack a radio_status message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param rssi local signal strength
* @param remrssi remote signal strength
* @param txbuf how full the tx buffer is as a percentage
* @param noise background noise level
* @param remnoise remote background noise level
* @param rxerrors receive errors
* @param fixed count of error corrected packets
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_radio_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t rssi,uint8_t remrssi,uint8_t txbuf,uint8_t noise,uint8_t remnoise,uint16_t rxerrors,uint16_t fixed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RADIO_STATUS_LEN];
_mav_put_uint16_t(buf, 0, rxerrors);
_mav_put_uint16_t(buf, 2, fixed);
_mav_put_uint8_t(buf, 4, rssi);
_mav_put_uint8_t(buf, 5, remrssi);
_mav_put_uint8_t(buf, 6, txbuf);
_mav_put_uint8_t(buf, 7, noise);
_mav_put_uint8_t(buf, 8, remnoise);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RADIO_STATUS_LEN);
#else
mavlink_radio_status_t packet;
packet.rxerrors = rxerrors;
packet.fixed = fixed;
packet.rssi = rssi;
packet.remrssi = remrssi;
packet.txbuf = txbuf;
packet.noise = noise;
packet.remnoise = remnoise;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RADIO_STATUS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_RADIO_STATUS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RADIO_STATUS_LEN, MAVLINK_MSG_ID_RADIO_STATUS_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RADIO_STATUS_LEN);
#endif
}
/**
* @brief Encode a radio_status struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param radio_status C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_radio_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_radio_status_t* radio_status)
{
return mavlink_msg_radio_status_pack(system_id, component_id, msg, radio_status->rssi, radio_status->remrssi, radio_status->txbuf, radio_status->noise, radio_status->remnoise, radio_status->rxerrors, radio_status->fixed);
}
/**
* @brief Send a radio_status message
* @param chan MAVLink channel to send the message
*
* @param rssi local signal strength
* @param remrssi remote signal strength
* @param txbuf how full the tx buffer is as a percentage
* @param noise background noise level
* @param remnoise remote background noise level
* @param rxerrors receive errors
* @param fixed count of error corrected packets
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_radio_status_send(mavlink_channel_t chan, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RADIO_STATUS_LEN];
_mav_put_uint16_t(buf, 0, rxerrors);
_mav_put_uint16_t(buf, 2, fixed);
_mav_put_uint8_t(buf, 4, rssi);
_mav_put_uint8_t(buf, 5, remrssi);
_mav_put_uint8_t(buf, 6, txbuf);
_mav_put_uint8_t(buf, 7, noise);
_mav_put_uint8_t(buf, 8, remnoise);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO_STATUS, buf, MAVLINK_MSG_ID_RADIO_STATUS_LEN, MAVLINK_MSG_ID_RADIO_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO_STATUS, buf, MAVLINK_MSG_ID_RADIO_STATUS_LEN);
#endif
#else
mavlink_radio_status_t packet;
packet.rxerrors = rxerrors;
packet.fixed = fixed;
packet.rssi = rssi;
packet.remrssi = remrssi;
packet.txbuf = txbuf;
packet.noise = noise;
packet.remnoise = remnoise;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO_STATUS, (const char *)&packet, MAVLINK_MSG_ID_RADIO_STATUS_LEN, MAVLINK_MSG_ID_RADIO_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO_STATUS, (const char *)&packet, MAVLINK_MSG_ID_RADIO_STATUS_LEN);
#endif
#endif
}
#endif
// MESSAGE RADIO_STATUS UNPACKING
/**
* @brief Get field rssi from radio_status message
*
* @return local signal strength
*/
static inline uint8_t mavlink_msg_radio_status_get_rssi(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 4);
}
/**
* @brief Get field remrssi from radio_status message
*
* @return remote signal strength
*/
static inline uint8_t mavlink_msg_radio_status_get_remrssi(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 5);
}
/**
* @brief Get field txbuf from radio_status message
*
* @return how full the tx buffer is as a percentage
*/
static inline uint8_t mavlink_msg_radio_status_get_txbuf(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 6);
}
/**
* @brief Get field noise from radio_status message
*
* @return background noise level
*/
static inline uint8_t mavlink_msg_radio_status_get_noise(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 7);
}
/**
* @brief Get field remnoise from radio_status message
*
* @return remote background noise level
*/
static inline uint8_t mavlink_msg_radio_status_get_remnoise(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 8);
}
/**
* @brief Get field rxerrors from radio_status message
*
* @return receive errors
*/
static inline uint16_t mavlink_msg_radio_status_get_rxerrors(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Get field fixed from radio_status message
*
* @return count of error corrected packets
*/
static inline uint16_t mavlink_msg_radio_status_get_fixed(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 2);
}
/**
* @brief Decode a radio_status message into a struct
*
* @param msg The message to decode
* @param radio_status C-struct to decode the message contents into
*/
static inline void mavlink_msg_radio_status_decode(const mavlink_message_t* msg, mavlink_radio_status_t* radio_status)
{
#if MAVLINK_NEED_BYTE_SWAP
radio_status->rxerrors = mavlink_msg_radio_status_get_rxerrors(msg);
radio_status->fixed = mavlink_msg_radio_status_get_fixed(msg);
radio_status->rssi = mavlink_msg_radio_status_get_rssi(msg);
radio_status->remrssi = mavlink_msg_radio_status_get_remrssi(msg);
radio_status->txbuf = mavlink_msg_radio_status_get_txbuf(msg);
radio_status->noise = mavlink_msg_radio_status_get_noise(msg);
radio_status->remnoise = mavlink_msg_radio_status_get_remnoise(msg);
#else
memcpy(radio_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RADIO_STATUS_LEN);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_set_altitude.h
-166
View File
@@ -1,166 +0,0 @@
// MESSAGE SET_ALTITUDE PACKING
#define MAVLINK_MSG_ID_SET_ALTITUDE 65
typedef struct __mavlink_set_altitude_t
{
uint32_t mode; ///< The new altitude in meters
uint8_t target; ///< The system setting the altitude
} mavlink_set_altitude_t;
#define MAVLINK_MSG_ID_SET_ALTITUDE_LEN 5
#define MAVLINK_MSG_ID_65_LEN 5
#define MAVLINK_MESSAGE_INFO_SET_ALTITUDE { \
"SET_ALTITUDE", \
2, \
{ { "mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_altitude_t, mode) }, \
{ "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_set_altitude_t, target) }, \
} \
}
/**
* @brief Pack a set_altitude message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target The system setting the altitude
* @param mode The new altitude in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_altitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target, uint32_t mode)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_uint32_t(buf, 0, mode);
_mav_put_uint8_t(buf, 4, target);
memcpy(_MAV_PAYLOAD(msg), buf, 5);
#else
mavlink_set_altitude_t packet;
packet.mode = mode;
packet.target = target;
memcpy(_MAV_PAYLOAD(msg), &packet, 5);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_ALTITUDE;
return mavlink_finalize_message(msg, system_id, component_id, 5, 54);
}
/**
* @brief Pack a set_altitude message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target The system setting the altitude
* @param mode The new altitude in meters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_altitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target,uint32_t mode)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_uint32_t(buf, 0, mode);
_mav_put_uint8_t(buf, 4, target);
memcpy(_MAV_PAYLOAD(msg), buf, 5);
#else
mavlink_set_altitude_t packet;
packet.mode = mode;
packet.target = target;
memcpy(_MAV_PAYLOAD(msg), &packet, 5);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_ALTITUDE;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5, 54);
}
/**
* @brief Encode a set_altitude struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param set_altitude C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_set_altitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_altitude_t* set_altitude)
{
return mavlink_msg_set_altitude_pack(system_id, component_id, msg, set_altitude->target, set_altitude->mode);
}
/**
* @brief Send a set_altitude message
* @param chan MAVLink channel to send the message
*
* @param target The system setting the altitude
* @param mode The new altitude in meters
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_set_altitude_send(mavlink_channel_t chan, uint8_t target, uint32_t mode)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_uint32_t(buf, 0, mode);
_mav_put_uint8_t(buf, 4, target);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ALTITUDE, buf, 5, 54);
#else
mavlink_set_altitude_t packet;
packet.mode = mode;
packet.target = target;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ALTITUDE, (const char *)&packet, 5, 54);
#endif
}
#endif
// MESSAGE SET_ALTITUDE UNPACKING
/**
* @brief Get field target from set_altitude message
*
* @return The system setting the altitude
*/
static inline uint8_t mavlink_msg_set_altitude_get_target(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 4);
}
/**
* @brief Get field mode from set_altitude message
*
* @return The new altitude in meters
*/
static inline uint32_t mavlink_msg_set_altitude_get_mode(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Decode a set_altitude message into a struct
*
* @param msg The message to decode
* @param set_altitude C-struct to decode the message contents into
*/
static inline void mavlink_msg_set_altitude_decode(const mavlink_message_t* msg, mavlink_set_altitude_t* set_altitude)
{
#if MAVLINK_NEED_BYTE_SWAP
set_altitude->mode = mavlink_msg_set_altitude_get_mode(msg);
set_altitude->target = mavlink_msg_set_altitude_get_target(msg);
#else
memcpy(set_altitude, _MAV_PAYLOAD(msg), 5);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_set_nav_mode.h
-166
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@@ -1,166 +0,0 @@
// MESSAGE SET_NAV_MODE PACKING
#define MAVLINK_MSG_ID_SET_NAV_MODE 12
typedef struct __mavlink_set_nav_mode_t
{
uint8_t target; ///< The system setting the mode
uint8_t nav_mode; ///< The new navigation mode
} mavlink_set_nav_mode_t;
#define MAVLINK_MSG_ID_SET_NAV_MODE_LEN 2
#define MAVLINK_MSG_ID_12_LEN 2
#define MAVLINK_MESSAGE_INFO_SET_NAV_MODE { \
"SET_NAV_MODE", \
2, \
{ { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_nav_mode_t, target) }, \
{ "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_set_nav_mode_t, nav_mode) }, \
} \
}
/**
* @brief Pack a set_nav_mode message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target The system setting the mode
* @param nav_mode The new navigation mode
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_nav_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target, uint8_t nav_mode)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint8_t(buf, 1, nav_mode);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_set_nav_mode_t packet;
packet.target = target;
packet.nav_mode = nav_mode;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_NAV_MODE;
return mavlink_finalize_message(msg, system_id, component_id, 2, 10);
}
/**
* @brief Pack a set_nav_mode message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target The system setting the mode
* @param nav_mode The new navigation mode
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_nav_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target,uint8_t nav_mode)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint8_t(buf, 1, nav_mode);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_set_nav_mode_t packet;
packet.target = target;
packet.nav_mode = nav_mode;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_NAV_MODE;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 10);
}
/**
* @brief Encode a set_nav_mode struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param set_nav_mode C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_set_nav_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_nav_mode_t* set_nav_mode)
{
return mavlink_msg_set_nav_mode_pack(system_id, component_id, msg, set_nav_mode->target, set_nav_mode->nav_mode);
}
/**
* @brief Send a set_nav_mode message
* @param chan MAVLink channel to send the message
*
* @param target The system setting the mode
* @param nav_mode The new navigation mode
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_set_nav_mode_send(mavlink_channel_t chan, uint8_t target, uint8_t nav_mode)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target);
_mav_put_uint8_t(buf, 1, nav_mode);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_NAV_MODE, buf, 2, 10);
#else
mavlink_set_nav_mode_t packet;
packet.target = target;
packet.nav_mode = nav_mode;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_NAV_MODE, (const char *)&packet, 2, 10);
#endif
}
#endif
// MESSAGE SET_NAV_MODE UNPACKING
/**
* @brief Get field target from set_nav_mode message
*
* @return The system setting the mode
*/
static inline uint8_t mavlink_msg_set_nav_mode_get_target(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field nav_mode from set_nav_mode message
*
* @return The new navigation mode
*/
static inline uint8_t mavlink_msg_set_nav_mode_get_nav_mode(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Decode a set_nav_mode message into a struct
*
* @param msg The message to decode
* @param set_nav_mode C-struct to decode the message contents into
*/
static inline void mavlink_msg_set_nav_mode_decode(const mavlink_message_t* msg, mavlink_set_nav_mode_t* set_nav_mode)
{
#if MAVLINK_NEED_BYTE_SWAP
set_nav_mode->target = mavlink_msg_set_nav_mode_get_target(msg);
set_nav_mode->nav_mode = mavlink_msg_set_nav_mode_get_nav_mode(msg);
#else
memcpy(set_nav_mode, _MAV_PAYLOAD(msg), 2);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_system_time_utc.h
-166
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@@ -1,166 +0,0 @@
// MESSAGE SYSTEM_TIME_UTC PACKING
#define MAVLINK_MSG_ID_SYSTEM_TIME_UTC 4
typedef struct __mavlink_system_time_utc_t
{
uint32_t utc_date; ///< GPS UTC date ddmmyy
uint32_t utc_time; ///< GPS UTC time hhmmss
} mavlink_system_time_utc_t;
#define MAVLINK_MSG_ID_SYSTEM_TIME_UTC_LEN 8
#define MAVLINK_MSG_ID_4_LEN 8
#define MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC { \
"SYSTEM_TIME_UTC", \
2, \
{ { "utc_date", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_system_time_utc_t, utc_date) }, \
{ "utc_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_system_time_utc_t, utc_time) }, \
} \
}
/**
* @brief Pack a system_time_utc message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param utc_date GPS UTC date ddmmyy
* @param utc_time GPS UTC time hhmmss
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_system_time_utc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t utc_date, uint32_t utc_time)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint32_t(buf, 0, utc_date);
_mav_put_uint32_t(buf, 4, utc_time);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
#else
mavlink_system_time_utc_t packet;
packet.utc_date = utc_date;
packet.utc_time = utc_time;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME_UTC;
return mavlink_finalize_message(msg, system_id, component_id, 8, 191);
}
/**
* @brief Pack a system_time_utc message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param utc_date GPS UTC date ddmmyy
* @param utc_time GPS UTC time hhmmss
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_system_time_utc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t utc_date,uint32_t utc_time)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint32_t(buf, 0, utc_date);
_mav_put_uint32_t(buf, 4, utc_time);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
#else
mavlink_system_time_utc_t packet;
packet.utc_date = utc_date;
packet.utc_time = utc_time;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME_UTC;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8, 191);
}
/**
* @brief Encode a system_time_utc struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param system_time_utc C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_system_time_utc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_system_time_utc_t* system_time_utc)
{
return mavlink_msg_system_time_utc_pack(system_id, component_id, msg, system_time_utc->utc_date, system_time_utc->utc_time);
}
/**
* @brief Send a system_time_utc message
* @param chan MAVLink channel to send the message
*
* @param utc_date GPS UTC date ddmmyy
* @param utc_time GPS UTC time hhmmss
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_system_time_utc_send(mavlink_channel_t chan, uint32_t utc_date, uint32_t utc_time)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint32_t(buf, 0, utc_date);
_mav_put_uint32_t(buf, 4, utc_time);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME_UTC, buf, 8, 191);
#else
mavlink_system_time_utc_t packet;
packet.utc_date = utc_date;
packet.utc_time = utc_time;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME_UTC, (const char *)&packet, 8, 191);
#endif
}
#endif
// MESSAGE SYSTEM_TIME_UTC UNPACKING
/**
* @brief Get field utc_date from system_time_utc message
*
* @return GPS UTC date ddmmyy
*/
static inline uint32_t mavlink_msg_system_time_utc_get_utc_date(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field utc_time from system_time_utc message
*
* @return GPS UTC time hhmmss
*/
static inline uint32_t mavlink_msg_system_time_utc_get_utc_time(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 4);
}
/**
* @brief Decode a system_time_utc message into a struct
*
* @param msg The message to decode
* @param system_time_utc C-struct to decode the message contents into
*/
static inline void mavlink_msg_system_time_utc_decode(const mavlink_message_t* msg, mavlink_system_time_utc_t* system_time_utc)
{
#if MAVLINK_NEED_BYTE_SWAP
system_time_utc->utc_date = mavlink_msg_system_time_utc_get_utc_date(msg);
system_time_utc->utc_time = mavlink_msg_system_time_utc_get_utc_time(msg);
#else
memcpy(system_time_utc, _MAV_PAYLOAD(msg), 8);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_waypoint.h
-430
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@@ -1,430 +0,0 @@
// MESSAGE WAYPOINT PACKING
#define MAVLINK_MSG_ID_WAYPOINT 39
typedef struct __mavlink_waypoint_t
{
float param1; ///< PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
float param2; ///< PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
float param3; ///< PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
float param4; ///< PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
float x; ///< PARAM5 / local: x position, global: latitude
float y; ///< PARAM6 / y position: global: longitude
float z; ///< PARAM7 / z position: global: altitude
uint16_t seq; ///< Sequence
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t frame; ///< The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
uint8_t command; ///< The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
uint8_t current; ///< false:0, true:1
uint8_t autocontinue; ///< autocontinue to next wp
} mavlink_waypoint_t;
#define MAVLINK_MSG_ID_WAYPOINT_LEN 36
#define MAVLINK_MSG_ID_39_LEN 36
#define MAVLINK_MESSAGE_INFO_WAYPOINT { \
"WAYPOINT", \
14, \
{ { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_waypoint_t, param1) }, \
{ "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_waypoint_t, param2) }, \
{ "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_waypoint_t, param3) }, \
{ "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_waypoint_t, param4) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_waypoint_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_waypoint_t, y) }, \
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_waypoint_t, z) }, \
{ "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_waypoint_t, seq) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_waypoint_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_waypoint_t, target_component) }, \
{ "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_waypoint_t, frame) }, \
{ "command", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_waypoint_t, command) }, \
{ "current", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_waypoint_t, current) }, \
{ "autocontinue", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_waypoint_t, autocontinue) }, \
} \
}
/**
* @brief Pack a waypoint message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @param seq Sequence
* @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
* @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
* @param current false:0, true:1
* @param autocontinue autocontinue to next wp
* @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
* @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
* @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
* @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
* @param x PARAM5 / local: x position, global: latitude
* @param y PARAM6 / y position: global: longitude
* @param z PARAM7 / z position: global: altitude
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
_mav_put_float(buf, 0, param1);
_mav_put_float(buf, 4, param2);
_mav_put_float(buf, 8, param3);
_mav_put_float(buf, 12, param4);
_mav_put_float(buf, 16, x);
_mav_put_float(buf, 20, y);
_mav_put_float(buf, 24, z);
_mav_put_uint16_t(buf, 28, seq);
_mav_put_uint8_t(buf, 30, target_system);
_mav_put_uint8_t(buf, 31, target_component);
_mav_put_uint8_t(buf, 32, frame);
_mav_put_uint8_t(buf, 33, command);
_mav_put_uint8_t(buf, 34, current);
_mav_put_uint8_t(buf, 35, autocontinue);
memcpy(_MAV_PAYLOAD(msg), buf, 36);
#else
mavlink_waypoint_t packet;
packet.param1 = param1;
packet.param2 = param2;
packet.param3 = param3;
packet.param4 = param4;
packet.x = x;
packet.y = y;
packet.z = z;
packet.seq = seq;
packet.target_system = target_system;
packet.target_component = target_component;
packet.frame = frame;
packet.command = command;
packet.current = current;
packet.autocontinue = autocontinue;
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT;
return mavlink_finalize_message(msg, system_id, component_id, 36, 205);
}
/**
* @brief Pack a waypoint message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param seq Sequence
* @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
* @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
* @param current false:0, true:1
* @param autocontinue autocontinue to next wp
* @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
* @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
* @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
* @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
* @param x PARAM5 / local: x position, global: latitude
* @param y PARAM6 / y position: global: longitude
* @param z PARAM7 / z position: global: altitude
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_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,uint16_t seq,uint8_t frame,uint8_t command,uint8_t current,uint8_t autocontinue,float param1,float param2,float param3,float param4,float x,float y,float z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
_mav_put_float(buf, 0, param1);
_mav_put_float(buf, 4, param2);
_mav_put_float(buf, 8, param3);
_mav_put_float(buf, 12, param4);
_mav_put_float(buf, 16, x);
_mav_put_float(buf, 20, y);
_mav_put_float(buf, 24, z);
_mav_put_uint16_t(buf, 28, seq);
_mav_put_uint8_t(buf, 30, target_system);
_mav_put_uint8_t(buf, 31, target_component);
_mav_put_uint8_t(buf, 32, frame);
_mav_put_uint8_t(buf, 33, command);
_mav_put_uint8_t(buf, 34, current);
_mav_put_uint8_t(buf, 35, autocontinue);
memcpy(_MAV_PAYLOAD(msg), buf, 36);
#else
mavlink_waypoint_t packet;
packet.param1 = param1;
packet.param2 = param2;
packet.param3 = param3;
packet.param4 = param4;
packet.x = x;
packet.y = y;
packet.z = z;
packet.seq = seq;
packet.target_system = target_system;
packet.target_component = target_component;
packet.frame = frame;
packet.command = command;
packet.current = current;
packet.autocontinue = autocontinue;
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36, 205);
}
/**
* @brief Encode a waypoint struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param waypoint C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_waypoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_t* waypoint)
{
return mavlink_msg_waypoint_pack(system_id, component_id, msg, waypoint->target_system, waypoint->target_component, waypoint->seq, waypoint->frame, waypoint->command, waypoint->current, waypoint->autocontinue, waypoint->param1, waypoint->param2, waypoint->param3, waypoint->param4, waypoint->x, waypoint->y, waypoint->z);
}
/**
* @brief Send a waypoint message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param seq Sequence
* @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
* @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
* @param current false:0, true:1
* @param autocontinue autocontinue to next wp
* @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
* @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
* @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
* @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
* @param x PARAM5 / local: x position, global: latitude
* @param y PARAM6 / y position: global: longitude
* @param z PARAM7 / z position: global: altitude
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_waypoint_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
_mav_put_float(buf, 0, param1);
_mav_put_float(buf, 4, param2);
_mav_put_float(buf, 8, param3);
_mav_put_float(buf, 12, param4);
_mav_put_float(buf, 16, x);
_mav_put_float(buf, 20, y);
_mav_put_float(buf, 24, z);
_mav_put_uint16_t(buf, 28, seq);
_mav_put_uint8_t(buf, 30, target_system);
_mav_put_uint8_t(buf, 31, target_component);
_mav_put_uint8_t(buf, 32, frame);
_mav_put_uint8_t(buf, 33, command);
_mav_put_uint8_t(buf, 34, current);
_mav_put_uint8_t(buf, 35, autocontinue);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT, buf, 36, 205);
#else
mavlink_waypoint_t packet;
packet.param1 = param1;
packet.param2 = param2;
packet.param3 = param3;
packet.param4 = param4;
packet.x = x;
packet.y = y;
packet.z = z;
packet.seq = seq;
packet.target_system = target_system;
packet.target_component = target_component;
packet.frame = frame;
packet.command = command;
packet.current = current;
packet.autocontinue = autocontinue;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT, (const char *)&packet, 36, 205);
#endif
}
#endif
// MESSAGE WAYPOINT UNPACKING
/**
* @brief Get field target_system from waypoint message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_waypoint_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 30);
}
/**
* @brief Get field target_component from waypoint message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_waypoint_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 31);
}
/**
* @brief Get field seq from waypoint message
*
* @return Sequence
*/
static inline uint16_t mavlink_msg_waypoint_get_seq(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 28);
}
/**
* @brief Get field frame from waypoint message
*
* @return The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
*/
static inline uint8_t mavlink_msg_waypoint_get_frame(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 32);
}
/**
* @brief Get field command from waypoint message
*
* @return The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
*/
static inline uint8_t mavlink_msg_waypoint_get_command(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 33);
}
/**
* @brief Get field current from waypoint message
*
* @return false:0, true:1
*/
static inline uint8_t mavlink_msg_waypoint_get_current(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 34);
}
/**
* @brief Get field autocontinue from waypoint message
*
* @return autocontinue to next wp
*/
static inline uint8_t mavlink_msg_waypoint_get_autocontinue(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 35);
}
/**
* @brief Get field param1 from waypoint message
*
* @return PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
*/
static inline float mavlink_msg_waypoint_get_param1(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field param2 from waypoint message
*
* @return PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
*/
static inline float mavlink_msg_waypoint_get_param2(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field param3 from waypoint message
*
* @return PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
*/
static inline float mavlink_msg_waypoint_get_param3(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field param4 from waypoint message
*
* @return PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
*/
static inline float mavlink_msg_waypoint_get_param4(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field x from waypoint message
*
* @return PARAM5 / local: x position, global: latitude
*/
static inline float mavlink_msg_waypoint_get_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field y from waypoint message
*
* @return PARAM6 / y position: global: longitude
*/
static inline float mavlink_msg_waypoint_get_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field z from waypoint message
*
* @return PARAM7 / z position: global: altitude
*/
static inline float mavlink_msg_waypoint_get_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Decode a waypoint message into a struct
*
* @param msg The message to decode
* @param waypoint C-struct to decode the message contents into
*/
static inline void mavlink_msg_waypoint_decode(const mavlink_message_t* msg, mavlink_waypoint_t* waypoint)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint->param1 = mavlink_msg_waypoint_get_param1(msg);
waypoint->param2 = mavlink_msg_waypoint_get_param2(msg);
waypoint->param3 = mavlink_msg_waypoint_get_param3(msg);
waypoint->param4 = mavlink_msg_waypoint_get_param4(msg);
waypoint->x = mavlink_msg_waypoint_get_x(msg);
waypoint->y = mavlink_msg_waypoint_get_y(msg);
waypoint->z = mavlink_msg_waypoint_get_z(msg);
waypoint->seq = mavlink_msg_waypoint_get_seq(msg);
waypoint->target_system = mavlink_msg_waypoint_get_target_system(msg);
waypoint->target_component = mavlink_msg_waypoint_get_target_component(msg);
waypoint->frame = mavlink_msg_waypoint_get_frame(msg);
waypoint->command = mavlink_msg_waypoint_get_command(msg);
waypoint->current = mavlink_msg_waypoint_get_current(msg);
waypoint->autocontinue = mavlink_msg_waypoint_get_autocontinue(msg);
#else
memcpy(waypoint, _MAV_PAYLOAD(msg), 36);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_waypoint_ack.h
-188
View File
@@ -1,188 +0,0 @@
// MESSAGE WAYPOINT_ACK PACKING
#define MAVLINK_MSG_ID_WAYPOINT_ACK 47
typedef struct __mavlink_waypoint_ack_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t type; ///< 0: OK, 1: Error
} mavlink_waypoint_ack_t;
#define MAVLINK_MSG_ID_WAYPOINT_ACK_LEN 3
#define MAVLINK_MSG_ID_47_LEN 3
#define MAVLINK_MESSAGE_INFO_WAYPOINT_ACK { \
"WAYPOINT_ACK", \
3, \
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_ack_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_ack_t, target_component) }, \
{ "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_waypoint_ack_t, type) }, \
} \
}
/**
* @brief Pack a waypoint_ack message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @param type 0: OK, 1: Error
* @return length of the message in bytes (excluding serial stream start sign)
*/
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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, type);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
#else
mavlink_waypoint_ack_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.type = type;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_ACK;
return mavlink_finalize_message(msg, system_id, component_id, 3, 214);
}
/**
* @brief Pack a waypoint_ack message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param type 0: OK, 1: Error
* @return length of the message in bytes (excluding serial stream start sign)
*/
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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, type);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
#else
mavlink_waypoint_ack_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.type = type;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_ACK;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 214);
}
/**
* @brief Encode a waypoint_ack struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param waypoint_ack C-struct to read the message contents from
*/
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)
{
return mavlink_msg_waypoint_ack_pack(system_id, component_id, msg, waypoint_ack->target_system, waypoint_ack->target_component, waypoint_ack->type);
}
/**
* @brief Send a waypoint_ack message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param type 0: OK, 1: Error
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_waypoint_ack_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t type)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, type);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_ACK, buf, 3, 214);
#else
mavlink_waypoint_ack_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.type = type;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_ACK, (const char *)&packet, 3, 214);
#endif
}
#endif
// MESSAGE WAYPOINT_ACK UNPACKING
/**
* @brief Get field target_system from waypoint_ack message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_waypoint_ack_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field target_component from waypoint_ack message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_waypoint_ack_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field type from waypoint_ack message
*
* @return 0: OK, 1: Error
*/
static inline uint8_t mavlink_msg_waypoint_ack_get_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Decode a waypoint_ack message into a struct
*
* @param msg The message to decode
* @param waypoint_ack C-struct to decode the message contents into
*/
static inline void mavlink_msg_waypoint_ack_decode(const mavlink_message_t* msg, mavlink_waypoint_ack_t* waypoint_ack)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint_ack->target_system = mavlink_msg_waypoint_ack_get_target_system(msg);
waypoint_ack->target_component = mavlink_msg_waypoint_ack_get_target_component(msg);
waypoint_ack->type = mavlink_msg_waypoint_ack_get_type(msg);
#else
memcpy(waypoint_ack, _MAV_PAYLOAD(msg), 3);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_waypoint_clear_all.h
-166
View File
@@ -1,166 +0,0 @@
// MESSAGE WAYPOINT_CLEAR_ALL PACKING
#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL 45
typedef struct __mavlink_waypoint_clear_all_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
} mavlink_waypoint_clear_all_t;
#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL_LEN 2
#define MAVLINK_MSG_ID_45_LEN 2
#define MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL { \
"WAYPOINT_CLEAR_ALL", \
2, \
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_clear_all_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_clear_all_t, target_component) }, \
} \
}
/**
* @brief Pack a waypoint_clear_all message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_clear_all_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_waypoint_clear_all_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL;
return mavlink_finalize_message(msg, system_id, component_id, 2, 229);
}
/**
* @brief Pack a waypoint_clear_all message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_clear_all_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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_waypoint_clear_all_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 229);
}
/**
* @brief Encode a waypoint_clear_all struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param waypoint_clear_all C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_waypoint_clear_all_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_clear_all_t* waypoint_clear_all)
{
return mavlink_msg_waypoint_clear_all_pack(system_id, component_id, msg, waypoint_clear_all->target_system, waypoint_clear_all->target_component);
}
/**
* @brief Send a waypoint_clear_all message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_waypoint_clear_all_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL, buf, 2, 229);
#else
mavlink_waypoint_clear_all_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL, (const char *)&packet, 2, 229);
#endif
}
#endif
// MESSAGE WAYPOINT_CLEAR_ALL UNPACKING
/**
* @brief Get field target_system from waypoint_clear_all message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_waypoint_clear_all_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field target_component from waypoint_clear_all message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_waypoint_clear_all_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Decode a waypoint_clear_all message into a struct
*
* @param msg The message to decode
* @param waypoint_clear_all C-struct to decode the message contents into
*/
static inline void mavlink_msg_waypoint_clear_all_decode(const mavlink_message_t* msg, mavlink_waypoint_clear_all_t* waypoint_clear_all)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint_clear_all->target_system = mavlink_msg_waypoint_clear_all_get_target_system(msg);
waypoint_clear_all->target_component = mavlink_msg_waypoint_clear_all_get_target_component(msg);
#else
memcpy(waypoint_clear_all, _MAV_PAYLOAD(msg), 2);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_waypoint_count.h
-188
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@@ -1,188 +0,0 @@
// MESSAGE WAYPOINT_COUNT PACKING
#define MAVLINK_MSG_ID_WAYPOINT_COUNT 44
typedef struct __mavlink_waypoint_count_t
{
uint16_t count; ///< Number of Waypoints in the Sequence
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
} mavlink_waypoint_count_t;
#define MAVLINK_MSG_ID_WAYPOINT_COUNT_LEN 4
#define MAVLINK_MSG_ID_44_LEN 4
#define MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT { \
"WAYPOINT_COUNT", \
3, \
{ { "count", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_waypoint_count_t, count) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_waypoint_count_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_waypoint_count_t, target_component) }, \
} \
}
/**
* @brief Pack a waypoint_count message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @param count Number of Waypoints in the Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_count_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint16_t count)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint16_t(buf, 0, count);
_mav_put_uint8_t(buf, 2, target_system);
_mav_put_uint8_t(buf, 3, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_waypoint_count_t packet;
packet.count = count;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_COUNT;
return mavlink_finalize_message(msg, system_id, component_id, 4, 8);
}
/**
* @brief Pack a waypoint_count message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param count Number of Waypoints in the Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_count_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,uint16_t count)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint16_t(buf, 0, count);
_mav_put_uint8_t(buf, 2, target_system);
_mav_put_uint8_t(buf, 3, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_waypoint_count_t packet;
packet.count = count;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_COUNT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 8);
}
/**
* @brief Encode a waypoint_count struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param waypoint_count C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_waypoint_count_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_count_t* waypoint_count)
{
return mavlink_msg_waypoint_count_pack(system_id, component_id, msg, waypoint_count->target_system, waypoint_count->target_component, waypoint_count->count);
}
/**
* @brief Send a waypoint_count message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param count Number of Waypoints in the Sequence
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_waypoint_count_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t count)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint16_t(buf, 0, count);
_mav_put_uint8_t(buf, 2, target_system);
_mav_put_uint8_t(buf, 3, target_component);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_COUNT, buf, 4, 8);
#else
mavlink_waypoint_count_t packet;
packet.count = count;
packet.target_system = target_system;
packet.target_component = target_component;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_COUNT, (const char *)&packet, 4, 8);
#endif
}
#endif
// MESSAGE WAYPOINT_COUNT UNPACKING
/**
* @brief Get field target_system from waypoint_count message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_waypoint_count_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Get field target_component from waypoint_count message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_waypoint_count_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 3);
}
/**
* @brief Get field count from waypoint_count message
*
* @return Number of Waypoints in the Sequence
*/
static inline uint16_t mavlink_msg_waypoint_count_get_count(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Decode a waypoint_count message into a struct
*
* @param msg The message to decode
* @param waypoint_count C-struct to decode the message contents into
*/
static inline void mavlink_msg_waypoint_count_decode(const mavlink_message_t* msg, mavlink_waypoint_count_t* waypoint_count)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint_count->count = mavlink_msg_waypoint_count_get_count(msg);
waypoint_count->target_system = mavlink_msg_waypoint_count_get_target_system(msg);
waypoint_count->target_component = mavlink_msg_waypoint_count_get_target_component(msg);
#else
memcpy(waypoint_count, _MAV_PAYLOAD(msg), 4);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_waypoint_current.h
-144
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@@ -1,144 +0,0 @@
// MESSAGE WAYPOINT_CURRENT PACKING
#define MAVLINK_MSG_ID_WAYPOINT_CURRENT 42
typedef struct __mavlink_waypoint_current_t
{
uint16_t seq; ///< Sequence
} mavlink_waypoint_current_t;
#define MAVLINK_MSG_ID_WAYPOINT_CURRENT_LEN 2
#define MAVLINK_MSG_ID_42_LEN 2
#define MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT { \
"WAYPOINT_CURRENT", \
1, \
{ { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_waypoint_current_t, seq) }, \
} \
}
/**
* @brief Pack a waypoint_current message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param seq Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t seq)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint16_t(buf, 0, seq);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_waypoint_current_t packet;
packet.seq = seq;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CURRENT;
return mavlink_finalize_message(msg, system_id, component_id, 2, 101);
}
/**
* @brief Pack a waypoint_current message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param seq Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_current_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t seq)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint16_t(buf, 0, seq);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_waypoint_current_t packet;
packet.seq = seq;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CURRENT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 101);
}
/**
* @brief Encode a waypoint_current struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param waypoint_current C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_waypoint_current_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_current_t* waypoint_current)
{
return mavlink_msg_waypoint_current_pack(system_id, component_id, msg, waypoint_current->seq);
}
/**
* @brief Send a waypoint_current message
* @param chan MAVLink channel to send the message
*
* @param seq Sequence
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_waypoint_current_send(mavlink_channel_t chan, uint16_t seq)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint16_t(buf, 0, seq);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_CURRENT, buf, 2, 101);
#else
mavlink_waypoint_current_t packet;
packet.seq = seq;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_CURRENT, (const char *)&packet, 2, 101);
#endif
}
#endif
// MESSAGE WAYPOINT_CURRENT UNPACKING
/**
* @brief Get field seq from waypoint_current message
*
* @return Sequence
*/
static inline uint16_t mavlink_msg_waypoint_current_get_seq(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Decode a waypoint_current message into a struct
*
* @param msg The message to decode
* @param waypoint_current C-struct to decode the message contents into
*/
static inline void mavlink_msg_waypoint_current_decode(const mavlink_message_t* msg, mavlink_waypoint_current_t* waypoint_current)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint_current->seq = mavlink_msg_waypoint_current_get_seq(msg);
#else
memcpy(waypoint_current, _MAV_PAYLOAD(msg), 2);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_waypoint_reached.h
-144
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@@ -1,144 +0,0 @@
// MESSAGE WAYPOINT_REACHED PACKING
#define MAVLINK_MSG_ID_WAYPOINT_REACHED 46
typedef struct __mavlink_waypoint_reached_t
{
uint16_t seq; ///< Sequence
} mavlink_waypoint_reached_t;
#define MAVLINK_MSG_ID_WAYPOINT_REACHED_LEN 2
#define MAVLINK_MSG_ID_46_LEN 2
#define MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED { \
"WAYPOINT_REACHED", \
1, \
{ { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_waypoint_reached_t, seq) }, \
} \
}
/**
* @brief Pack a waypoint_reached message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param seq Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_reached_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t seq)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint16_t(buf, 0, seq);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_waypoint_reached_t packet;
packet.seq = seq;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REACHED;
return mavlink_finalize_message(msg, system_id, component_id, 2, 21);
}
/**
* @brief Pack a waypoint_reached message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param seq Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_reached_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t seq)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint16_t(buf, 0, seq);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_waypoint_reached_t packet;
packet.seq = seq;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REACHED;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 21);
}
/**
* @brief Encode a waypoint_reached struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param waypoint_reached C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_waypoint_reached_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_reached_t* waypoint_reached)
{
return mavlink_msg_waypoint_reached_pack(system_id, component_id, msg, waypoint_reached->seq);
}
/**
* @brief Send a waypoint_reached message
* @param chan MAVLink channel to send the message
*
* @param seq Sequence
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_waypoint_reached_send(mavlink_channel_t chan, uint16_t seq)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint16_t(buf, 0, seq);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REACHED, buf, 2, 21);
#else
mavlink_waypoint_reached_t packet;
packet.seq = seq;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REACHED, (const char *)&packet, 2, 21);
#endif
}
#endif
// MESSAGE WAYPOINT_REACHED UNPACKING
/**
* @brief Get field seq from waypoint_reached message
*
* @return Sequence
*/
static inline uint16_t mavlink_msg_waypoint_reached_get_seq(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Decode a waypoint_reached message into a struct
*
* @param msg The message to decode
* @param waypoint_reached C-struct to decode the message contents into
*/
static inline void mavlink_msg_waypoint_reached_decode(const mavlink_message_t* msg, mavlink_waypoint_reached_t* waypoint_reached)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint_reached->seq = mavlink_msg_waypoint_reached_get_seq(msg);
#else
memcpy(waypoint_reached, _MAV_PAYLOAD(msg), 2);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_waypoint_request.h
-188
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@@ -1,188 +0,0 @@
// MESSAGE WAYPOINT_REQUEST PACKING
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST 40
typedef struct __mavlink_waypoint_request_t
{
uint16_t seq; ///< Sequence
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
} mavlink_waypoint_request_t;
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LEN 4
#define MAVLINK_MSG_ID_40_LEN 4
#define MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST { \
"WAYPOINT_REQUEST", \
3, \
{ { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_waypoint_request_t, seq) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_waypoint_request_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_waypoint_request_t, target_component) }, \
} \
}
/**
* @brief Pack a waypoint_request message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @param seq Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_request_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint16_t seq)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint16_t(buf, 0, seq);
_mav_put_uint8_t(buf, 2, target_system);
_mav_put_uint8_t(buf, 3, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_waypoint_request_t packet;
packet.seq = seq;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST;
return mavlink_finalize_message(msg, system_id, component_id, 4, 51);
}
/**
* @brief Pack a waypoint_request message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param seq Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_request_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,uint16_t seq)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint16_t(buf, 0, seq);
_mav_put_uint8_t(buf, 2, target_system);
_mav_put_uint8_t(buf, 3, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_waypoint_request_t packet;
packet.seq = seq;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 51);
}
/**
* @brief Encode a waypoint_request struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param waypoint_request C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_waypoint_request_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_request_t* waypoint_request)
{
return mavlink_msg_waypoint_request_pack(system_id, component_id, msg, waypoint_request->target_system, waypoint_request->target_component, waypoint_request->seq);
}
/**
* @brief Send a waypoint_request message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param seq Sequence
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_waypoint_request_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint16_t(buf, 0, seq);
_mav_put_uint8_t(buf, 2, target_system);
_mav_put_uint8_t(buf, 3, target_component);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REQUEST, buf, 4, 51);
#else
mavlink_waypoint_request_t packet;
packet.seq = seq;
packet.target_system = target_system;
packet.target_component = target_component;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REQUEST, (const char *)&packet, 4, 51);
#endif
}
#endif
// MESSAGE WAYPOINT_REQUEST UNPACKING
/**
* @brief Get field target_system from waypoint_request message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_waypoint_request_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Get field target_component from waypoint_request message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_waypoint_request_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 3);
}
/**
* @brief Get field seq from waypoint_request message
*
* @return Sequence
*/
static inline uint16_t mavlink_msg_waypoint_request_get_seq(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Decode a waypoint_request message into a struct
*
* @param msg The message to decode
* @param waypoint_request C-struct to decode the message contents into
*/
static inline void mavlink_msg_waypoint_request_decode(const mavlink_message_t* msg, mavlink_waypoint_request_t* waypoint_request)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint_request->seq = mavlink_msg_waypoint_request_get_seq(msg);
waypoint_request->target_system = mavlink_msg_waypoint_request_get_target_system(msg);
waypoint_request->target_component = mavlink_msg_waypoint_request_get_target_component(msg);
#else
memcpy(waypoint_request, _MAV_PAYLOAD(msg), 4);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_waypoint_request_list.h
-166
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@@ -1,166 +0,0 @@
// MESSAGE WAYPOINT_REQUEST_LIST PACKING
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST 43
typedef struct __mavlink_waypoint_request_list_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
} mavlink_waypoint_request_list_t;
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST_LEN 2
#define MAVLINK_MSG_ID_43_LEN 2
#define MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST { \
"WAYPOINT_REQUEST_LIST", \
2, \
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_request_list_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_request_list_t, target_component) }, \
} \
}
/**
* @brief Pack a waypoint_request_list message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_waypoint_request_list_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST;
return mavlink_finalize_message(msg, system_id, component_id, 2, 213);
}
/**
* @brief Pack a waypoint_request_list message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_request_list_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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 2);
#else
mavlink_waypoint_request_list_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2, 213);
}
/**
* @brief Encode a waypoint_request_list struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param waypoint_request_list C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_waypoint_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_request_list_t* waypoint_request_list)
{
return mavlink_msg_waypoint_request_list_pack(system_id, component_id, msg, waypoint_request_list->target_system, waypoint_request_list->target_component);
}
/**
* @brief Send a waypoint_request_list message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_waypoint_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[2];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, buf, 2, 213);
#else
mavlink_waypoint_request_list_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, (const char *)&packet, 2, 213);
#endif
}
#endif
// MESSAGE WAYPOINT_REQUEST_LIST UNPACKING
/**
* @brief Get field target_system from waypoint_request_list message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_waypoint_request_list_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field target_component from waypoint_request_list message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_waypoint_request_list_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Decode a waypoint_request_list message into a struct
*
* @param msg The message to decode
* @param waypoint_request_list C-struct to decode the message contents into
*/
static inline void mavlink_msg_waypoint_request_list_decode(const mavlink_message_t* msg, mavlink_waypoint_request_list_t* waypoint_request_list)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint_request_list->target_system = mavlink_msg_waypoint_request_list_get_target_system(msg);
waypoint_request_list->target_component = mavlink_msg_waypoint_request_list_get_target_component(msg);
#else
memcpy(waypoint_request_list, _MAV_PAYLOAD(msg), 2);
#endif
}
src/GCS_MAVLink/include_v1.0/common/mavlink_msg_waypoint_set_current.h
-188
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@@ -1,188 +0,0 @@
// MESSAGE WAYPOINT_SET_CURRENT PACKING
#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT 41
typedef struct __mavlink_waypoint_set_current_t
{
uint16_t seq; ///< Sequence
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
} mavlink_waypoint_set_current_t;
#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT_LEN 4
#define MAVLINK_MSG_ID_41_LEN 4
#define MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT { \
"WAYPOINT_SET_CURRENT", \
3, \
{ { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_waypoint_set_current_t, seq) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_waypoint_set_current_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_waypoint_set_current_t, target_component) }, \
} \
}
/**
* @brief Pack a waypoint_set_current message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @param seq Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_set_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint16_t seq)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint16_t(buf, 0, seq);
_mav_put_uint8_t(buf, 2, target_system);
_mav_put_uint8_t(buf, 3, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_waypoint_set_current_t packet;
packet.seq = seq;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT;
return mavlink_finalize_message(msg, system_id, component_id, 4, 80);
}
/**
* @brief Pack a waypoint_set_current message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param seq Sequence
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_waypoint_set_current_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,uint16_t seq)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint16_t(buf, 0, seq);
_mav_put_uint8_t(buf, 2, target_system);
_mav_put_uint8_t(buf, 3, target_component);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_waypoint_set_current_t packet;
packet.seq = seq;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 80);
}
/**
* @brief Encode a waypoint_set_current struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param waypoint_set_current C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_waypoint_set_current_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_set_current_t* waypoint_set_current)
{
return mavlink_msg_waypoint_set_current_pack(system_id, component_id, msg, waypoint_set_current->target_system, waypoint_set_current->target_component, waypoint_set_current->seq);
}
/**
* @brief Send a waypoint_set_current message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param seq Sequence
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_waypoint_set_current_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint16_t(buf, 0, seq);
_mav_put_uint8_t(buf, 2, target_system);
_mav_put_uint8_t(buf, 3, target_component);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT, buf, 4, 80);
#else
mavlink_waypoint_set_current_t packet;
packet.seq = seq;
packet.target_system = target_system;
packet.target_component = target_component;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT, (const char *)&packet, 4, 80);
#endif
}
#endif
// MESSAGE WAYPOINT_SET_CURRENT UNPACKING
/**
* @brief Get field target_system from waypoint_set_current message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_waypoint_set_current_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Get field target_component from waypoint_set_current message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_waypoint_set_current_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 3);
}
/**
* @brief Get field seq from waypoint_set_current message
*
* @return Sequence
*/
static inline uint16_t mavlink_msg_waypoint_set_current_get_seq(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Decode a waypoint_set_current message into a struct
*
* @param msg The message to decode
* @param waypoint_set_current C-struct to decode the message contents into
*/
static inline void mavlink_msg_waypoint_set_current_decode(const mavlink_message_t* msg, mavlink_waypoint_set_current_t* waypoint_set_current)
{
#if MAVLINK_NEED_BYTE_SWAP
waypoint_set_current->seq = mavlink_msg_waypoint_set_current_get_seq(msg);
waypoint_set_current->target_system = mavlink_msg_waypoint_set_current_get_target_system(msg);
waypoint_set_current->target_component = mavlink_msg_waypoint_set_current_get_target_component(msg);
#else
memcpy(waypoint_set_current, _MAV_PAYLOAD(msg), 4);
#endif
}
src/GCS_MAVLink/include_v1.0/mavlink_conversions.h
+131
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@@ -0,0 +1,131 @@
#ifndef _MAVLINK_CONVERSIONS_H_
#define _MAVLINK_CONVERSIONS_H_
/* enable math defines on Windows */
#ifdef _MSC_VER
#ifndef _USE_MATH_DEFINES
#define _USE_MATH_DEFINES
#endif
#endif
#include <math.h>
/**
* @file mavlink_conversions.h
*
* These conversion functions follow the NASA rotation standards definition file
* available online.
*
* Their intent is to lower the barrier for MAVLink adopters to use gimbal-lock free
* (both rotation matrices, sometimes called DCM, and quaternions are gimbal-lock free)
* rotation representations. Euler angles (roll, pitch, yaw) will be phased out of the
* protocol as widely as possible.
*
* @author James Goppert
*/
MAVLINK_HELPER void mavlink_quaternion_to_dcm(const float quaternion[4], float dcm[3][3])
{
double a = quaternion[0];
double b = quaternion[1];
double c = quaternion[2];
double d = quaternion[3];
double aSq = a * a;
double bSq = b * b;
double cSq = c * c;
double dSq = d * d;
dcm[0][0] = aSq + bSq - cSq - dSq;
dcm[0][1] = 2.0 * (b * c - a * d);
dcm[0][2] = 2.0 * (a * c + b * d);
dcm[1][0] = 2.0 * (b * c + a * d);
dcm[1][1] = aSq - bSq + cSq - dSq;
dcm[1][2] = 2.0 * (c * d - a * b);
dcm[2][0] = 2.0 * (b * d - a * c);
dcm[2][1] = 2.0 * (a * b + c * d);
dcm[2][2] = aSq - bSq - cSq + dSq;
}
MAVLINK_HELPER void mavlink_dcm_to_euler(const float dcm[3][3], float* roll, float* pitch, float* yaw)
{
float phi, theta, psi;
theta = asin(-dcm[2][0]);
if (fabs(theta - M_PI_2) < 1.0e-3f) {
phi = 0.0f;
psi = (atan2(dcm[1][2] - dcm[0][1],
dcm[0][2] + dcm[1][1]) + phi);
} else if (fabs(theta + M_PI_2) < 1.0e-3f) {
phi = 0.0f;
psi = atan2f(dcm[1][2] - dcm[0][1],
dcm[0][2] + dcm[1][1] - phi);
} else {
phi = atan2f(dcm[2][1], dcm[2][2]);
psi = atan2f(dcm[1][0], dcm[0][0]);
}
*roll = phi;
*pitch = theta;
*yaw = psi;
}
MAVLINK_HELPER void mavlink_quaternion_to_euler(const float quaternion[4], float* roll, float* pitch, float* yaw)
{
float dcm[3][3];
mavlink_quaternion_to_dcm(quaternion, dcm);
mavlink_dcm_to_euler(dcm, roll, pitch, yaw);
}
MAVLINK_HELPER void mavlink_euler_to_quaternion(float roll, float pitch, float yaw, float quaternion[4])
{
double cosPhi_2 = cos((double)roll / 2.0);
double sinPhi_2 = sin((double)roll / 2.0);
double cosTheta_2 = cos((double)pitch / 2.0);
double sinTheta_2 = sin((double)pitch / 2.0);
double cosPsi_2 = cos((double)yaw / 2.0);
double sinPsi_2 = sin((double)yaw / 2.0);
quaternion[0] = (cosPhi_2 * cosTheta_2 * cosPsi_2 +
sinPhi_2 * sinTheta_2 * sinPsi_2);
quaternion[1] = (sinPhi_2 * cosTheta_2 * cosPsi_2 -
cosPhi_2 * sinTheta_2 * sinPsi_2);
quaternion[2] = (cosPhi_2 * sinTheta_2 * cosPsi_2 +
sinPhi_2 * cosTheta_2 * sinPsi_2);
quaternion[3] = (cosPhi_2 * cosTheta_2 * sinPsi_2 -
sinPhi_2 * sinTheta_2 * cosPsi_2);
}
MAVLINK_HELPER void mavlink_dcm_to_quaternion(const float dcm[3][3], float quaternion[4])
{
quaternion[0] = (0.5 * sqrt(1.0 +
(double)(dcm[0][0] + dcm[1][1] + dcm[2][2])));
quaternion[1] = (0.5 * sqrt(1.0 +
(double)(dcm[0][0] - dcm[1][1] - dcm[2][2])));
quaternion[2] = (0.5 * sqrt(1.0 +
(double)(-dcm[0][0] + dcm[1][1] - dcm[2][2])));
quaternion[3] = (0.5 * sqrt(1.0 +
(double)(-dcm[0][0] - dcm[1][1] + dcm[2][2])));
}
MAVLINK_HELPER void mavlink_euler_to_dcm(float roll, float pitch, float yaw, float dcm[3][3])
{
double cosPhi = cos(roll);
double sinPhi = sin(roll);
double cosThe = cos(pitch);
double sinThe = sin(pitch);
double cosPsi = cos(yaw);
double sinPsi = sin(yaw);
dcm[0][0] = cosThe * cosPsi;
dcm[0][1] = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
dcm[0][2] = sinPhi * sinPsi + cosPhi * sinThe * cosPsi;
dcm[1][0] = cosThe * sinPsi;
dcm[1][1] = cosPhi * cosPsi + sinPhi * sinThe * sinPsi;
dcm[1][2] = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi;
dcm[2][0] = -sinThe;
dcm[2][1] = sinPhi * cosThe;
dcm[2][2] = cosPhi * cosThe;
}
#endif
src/GCS_MAVLink/missionlib/mavlink_missionlib_data.h
-58
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@@ -1,58 +0,0 @@
/*******************************************************************************
Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
****************************************************************************/
/* This assumes you have the mavlink headers on your include path
or in the same folder as this source file */
// Disable auto-data structures
#ifndef MAVLINK_NO_DATA
#define MAVLINK_NO_DATA
#endif
#include "mavlink.h"
#include <stdbool.h>
/* MISSION LIB DATA STORAGE */
enum MAVLINK_PM_PARAMETERS
{
MAVLINK_PM_PARAM_SYSTEM_ID,
MAVLINK_PM_PARAM_ATT_K_D,
MAVLINK_PM_MAX_PARAM_COUNT // VERY IMPORTANT! KEEP THIS AS LAST ENTRY
};
/* DO NOT EDIT THIS FILE BELOW THIS POINT! */
#ifndef MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN
#define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 16
#endif
//extern void mavlink_pm_queued_send();
struct mavlink_pm_storage {
char param_names[MAVLINK_PM_MAX_PARAM_COUNT][MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; ///< Parameter names
float param_values[MAVLINK_PM_MAX_PARAM_COUNT]; ///< Parameter values
uint16_t next_param;
uint16_t size;
};
typedef struct mavlink_pm_storage mavlink_pm_storage;
void mavlink_pm_reset_params(mavlink_pm_storage* pm);
src/GCS_MAVLink/missionlib/mavlink_parameters.c
-150
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@@ -1,150 +0,0 @@
/*******************************************************************************
Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
****************************************************************************/
#include "mavlink_missionlib_data.h"
#include "mavlink_parameters.h"
#include "math.h" /* isinf / isnan checks */
extern mavlink_system_t mavlink_system;
extern mavlink_pm_storage pm;
extern void mavlink_missionlib_send_message(mavlink_message_t* msg);
extern void mavlink_missionlib_send_gcs_string(const char* string);
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t* msg)
{
switch (msg->msgid)
{
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// Start sending parameters
pm.next_param = 0;
mavlink_missionlib_send_gcs_string("PM SENDING LIST");
}
break;
case MAVLINK_MSG_ID_PARAM_SET:
{
mavlink_param_set_t set;
mavlink_msg_param_set_decode(msg, &set);
// Check if this message is for this system
if (set.target_system == mavlink_system.sysid && set.target_component == mavlink_system.compid)
{
char* key = set.param_id;
for (uint16_t i = 0; i < MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN; i++)
{
bool match = true;
for (uint16_t j = 0; j < MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN; j++)
{
// Compare
if (pm.param_names[i][j] != key[j])
{
match = false;
}
// End matching if null termination is reached
if (pm.param_names[i][j] == '\0')
{
break;
}
}
// Check if matched
if (match)
{
// Only write and emit changes if there is actually a difference
// AND only write if new value is NOT "not-a-number"
// AND is NOT infinity
if (pm.param_values[i] != set.param_value
&& !isnan(set.param_value)
&& !isinf(set.param_value))
{
pm.param_values[i] = set.param_value;
// Report back new value
#ifndef MAVLINK_USE_CONVENIENCE_FUNCTIONS
mavlink_message_t tx_msg;
mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
mavlink_system.compid,
MAVLINK_COMM_0,
&tx_msg,
pm.param_names[i],
pm.param_values[i],
MAVLINK_TYPE_FLOAT,
pm.size,
i);
mavlink_missionlib_send_message(&tx_msg);
#else
mavlink_msg_param_value_send(MAVLINK_COMM_0,
pm.param_names[i],
pm.param_values[i],
MAVLINK_TYPE_FLOAT,
pm.size,
i);
#endif
mavlink_missionlib_send_gcs_string("PM received param");
} // End valid value check
} // End match check
} // End for loop
} // End system ID check
} // End case
break;
} // End switch
}
/**
* @brief Send low-priority messages at a maximum rate of xx Hertz
*
* This function sends messages at a lower rate to not exceed the wireless
* bandwidth. It sends one message each time it is called until the buffer is empty.
* Call this function with xx Hertz to increase/decrease the bandwidth.
*/
void mavlink_pm_queued_send(void)
{
//send parameters one by one
if (pm.next_param < pm.size)
{
//for (int i.. all active comm links)
#ifndef MAVLINK_USE_CONVENIENCE_FUNCTIONS
mavlink_message_t tx_msg;
mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
mavlink_system.compid,
MAVLINK_COMM_0,
&tx_msg,
pm.param_names[pm.next_param],
pm.param_values[pm.next_param],
MAVLINK_TYPE_FLOAT,
pm.size,
pm.next_param);
mavlink_missionlib_send_message(&tx_msg);
#else
mavlink_msg_param_value_send(MAVLINK_COMM_0,
pm.param_names[pm.next_param],
pm.param_values[pm.next_param],
MAV_DATA_TYPE_FLOAT,
pm.size,
pm.next_param);
#endif
pm.next_param++;
}
}
src/GCS_MAVLink/missionlib/mavlink_parameters.h
-38
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@@ -1,38 +0,0 @@
/*******************************************************************************
Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
****************************************************************************/
/* This assumes you have the mavlink headers on your include path
or in the same folder as this source file */
// Disable auto-data structures
#ifndef MAVLINK_NO_DATA
#define MAVLINK_NO_DATA
#endif
#include "mavlink.h"
#include <stdbool.h>
/* PARAMETER MANAGER - MISSION LIB */
#ifndef MAVLINK_PM_TEXT_FEEDBACK
#define MAVLINK_PM_TEXT_FEEDBACK 1 ///< Report back status information as text
#endif
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t* msg);
void mavlink_pm_queued_send(void);
src/GCS_MAVLink/missionlib/testing/.gitignore
-3
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@@ -1,3 +0,0 @@
*.o
udptest
build
src/GCS_MAVLink/missionlib/testing/Makefile
-12
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@@ -1,12 +0,0 @@
VERSION = 1.00
CC = gcc
CFLAGS = -I ../../include/common -Wall -Werror -DVERSION=\"$(MAVLINK_VERSION)\" -std=c99
LDFLAGS = ""
OBJ = udp.o
udptest: $(OBJ)
$(CC) $(CFLAGS) -o udptest $(OBJ) $(LDFLAGS)
%.o: %.c
$(CC) $(CFLAGS) -c $<
src/GCS_MAVLink/missionlib/testing/main.c
-373
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@@ -1,373 +0,0 @@
/*******************************************************************************
Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch
and Bryan Godbolt godbolt ( a t ) ualberta.ca
adapted from example written by Bryan Godbolt godbolt ( a t ) ualberta.ca
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
****************************************************************************/
/*
This program sends some data to qgroundcontrol using the mavlink protocol. The sent packets
cause qgroundcontrol to respond with heartbeats. Any settings or custom commands sent from
qgroundcontrol are printed by this program along with the heartbeats.
I compiled this program sucessfully on Ubuntu 10.04 with the following command
gcc -I ../../pixhawk/mavlink/include -o udp-server udp.c
the rt library is needed for the clock_gettime on linux
*/
/* These headers are for QNX, but should all be standard on unix/linux */
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <netinet/in.h>
#include <unistd.h>
#include <stdlib.h>
#include <fcntl.h>
#include <time.h>
#include <math.h>
#if (defined __QNX__) | (defined __QNXNTO__)
/* QNX specific headers */
#include <unix.h>
#else
/* Linux / MacOS POSIX timer headers */
#include <sys/time.h>
#include <time.h>
#include <arpa/inet.h>
#endif
/* FIRST: MAVLink setup */
//#define MAVLINK_CONFIGURED
//#define MAVLINK_NO_DATA
//#define MAVLINK_WPM_VERBOSE
/* 0: Include MAVLink types */
#include "mavlink_types.h"
/* 1: Define mavlink system storage */
mavlink_system_t mavlink_system;
/* 2: Include actual protocol, REQUIRES mavlink_system */
#include "mavlink.h"
/* 3: Define waypoint helper functions */
void mavlink_wpm_send_message(mavlink_message_t* msg);
void mavlink_wpm_send_gcs_string(const char* string);
uint64_t mavlink_wpm_get_system_timestamp();
void mavlink_missionlib_send_message(mavlink_message_t* msg);
void mavlink_missionlib_send_gcs_string(const char* string);
uint64_t mavlink_missionlib_get_system_timestamp();
/* 4: Include waypoint protocol */
#include "waypoints.h"
mavlink_wpm_storage wpm;
#include "mavlink_missionlib_data.h"
#include "mavlink_parameters.h"
mavlink_pm_storage pm;
/**
* @brief reset all parameters to default
* @warning DO NOT USE THIS IN FLIGHT!
*/
void mavlink_pm_reset_params(mavlink_pm_storage* pm)
{
pm->size = MAVLINK_PM_MAX_PARAM_COUNT;
// 1) MAVLINK_PM_PARAM_SYSTEM_ID
pm->param_values[MAVLINK_PM_PARAM_SYSTEM_ID] = 12;
strcpy(pm->param_names[MAVLINK_PM_PARAM_SYSTEM_ID], "SYS_ID");
// 2) MAVLINK_PM_PARAM_ATT_K_D
pm->param_values[MAVLINK_PM_PARAM_ATT_K_D] = 0.3f;
strcpy(pm->param_names[MAVLINK_PM_PARAM_ATT_K_D], "ATT_K_D");
}
#define BUFFER_LENGTH 2041 // minimum buffer size that can be used with qnx (I don't know why)
char help[] = "--help";
char target_ip[100];
float position[6] = {};
int sock;
struct sockaddr_in gcAddr;
struct sockaddr_in locAddr;
uint8_t buf[BUFFER_LENGTH];
ssize_t recsize;
socklen_t fromlen;
int bytes_sent;
mavlink_message_t msg;
uint16_t len;
int i = 0;
unsigned int temp = 0;
uint64_t microsSinceEpoch();
/* Provide the interface functions for the waypoint manager */
/*
* @brief Sends a MAVLink message over UDP
*/
void mavlink_missionlib_send_message(mavlink_message_t* msg)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
uint16_t len = mavlink_msg_to_send_buffer(buf, msg);
uint16_t bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in));
printf("SENT %d bytes\n", bytes_sent);
}
void mavlink_missionlib_send_gcs_string(const char* string)
{
const int len = 50;
mavlink_statustext_t status;
int i = 0;
while (i < len - 1)
{
status.text[i] = string[i];
if (string[i] == '\0')
break;
i++;
}
status.text[i] = '\0'; // Enforce null termination
mavlink_message_t msg;
mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &status);
mavlink_missionlib_send_message(&msg);
}
uint64_t mavlink_missionlib_get_system_timestamp()
{
struct timeval tv;
gettimeofday(&tv, NULL);
return ((uint64_t)tv.tv_sec) * 1000000 + tv.tv_usec;
}
float roll, pitch, yaw;
uint32_t latitude, longitude, altitude;
uint16_t speedx, speedy, speedz;
float rollspeed, pitchspeed, yawspeed;
bool hilEnabled = false;
int main(int argc, char* argv[])
{
// Initialize MAVLink
mavlink_wpm_init(&wpm);
mavlink_system.sysid = 5;
mavlink_system.compid = 20;
mavlink_pm_reset_params(&pm);
int32_t ground_distance;
uint32_t time_ms;
// Create socket
sock = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
// Check if --help flag was used
if ((argc == 2) && (strcmp(argv[1], help) == 0))
{
printf("\n");
printf("\tUsage:\n\n");
printf("\t");
printf("%s", argv[0]);
printf(" <ip address of QGroundControl>\n");
printf("\tDefault for localhost: udp-server 127.0.0.1\n\n");
exit(EXIT_FAILURE);
}
// Change the target ip if parameter was given
strcpy(target_ip, "127.0.0.1");
if (argc == 2)
{
strcpy(target_ip, argv[1]);
}
memset(&locAddr, 0, sizeof(locAddr));
locAddr.sin_family = AF_INET;
locAddr.sin_addr.s_addr = INADDR_ANY;
locAddr.sin_port = htons(14551);
/* Bind the socket to port 14551 - necessary to receive packets from qgroundcontrol */
if (-1 == bind(sock,(struct sockaddr *)&locAddr, sizeof(struct sockaddr)))
{
perror("error bind failed");
close(sock);
exit(EXIT_FAILURE);
}
/* Attempt to make it non blocking */
if (fcntl(sock, F_SETFL, O_NONBLOCK | FASYNC) < 0)
{
fprintf(stderr, "error setting nonblocking: %s\n", strerror(errno));
close(sock);
exit(EXIT_FAILURE);
}
memset(&gcAddr, 0, sizeof(gcAddr));
gcAddr.sin_family = AF_INET;
gcAddr.sin_addr.s_addr = inet_addr(target_ip);
gcAddr.sin_port = htons(14550);
printf("MAVLINK MISSION LIBRARY EXAMPLE PROCESS INITIALIZATION DONE, RUNNING..\n");
for (;;)
{
bytes_sent = 0;
/* Send Heartbeat */
mavlink_msg_heartbeat_pack(mavlink_system.sysid, 200, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, 0, 0, 0);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
/* Send Status */
mavlink_msg_sys_status_pack(1, 200, &msg, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE, 500, 7500, 0, 0, 0, 0, 0, 0, 0, 0);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in));
/* Send Local Position */
mavlink_msg_local_position_ned_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(),
position[0], position[1], position[2],
position[3], position[4], position[5]);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
/* Send global position */
if (hilEnabled)
{
mavlink_msg_global_position_int_pack(mavlink_system.sysid, 200, &msg, time_ms, latitude, longitude, altitude, ground_distance, speedx, speedy, speedz, (yaw/M_PI)*180*100);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
}
/* Send attitude */
mavlink_msg_attitude_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(), roll, pitch, yaw, rollspeed, pitchspeed, yawspeed);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
/* Send HIL outputs */
float roll_ailerons = 0; // -1 .. 1
float pitch_elevator = 0.2; // -1 .. 1
float yaw_rudder = 0.1; // -1 .. 1
float throttle = 0.9; // 0 .. 1
mavlink_msg_hil_controls_pack_chan(mavlink_system.sysid, mavlink_system.compid, MAVLINK_COMM_0, &msg, microsSinceEpoch(), roll_ailerons, pitch_elevator, yaw_rudder, throttle, mavlink_system.mode, mavlink_system.nav_mode, 0, 0, 0, 0);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
memset(buf, 0, BUFFER_LENGTH);
recsize = recvfrom(sock, (void *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen);
if (recsize > 0)
{
// Something received - print out all bytes and parse packet
mavlink_message_t msg;
mavlink_status_t status;
printf("Bytes Received: %d\nDatagram: ", (int)recsize);
for (i = 0; i < recsize; ++i)
{
temp = buf[i];
printf("%02x ", (unsigned char)temp);
if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status))
{
// Packet received
printf("\nReceived packet: SYS: %d, COMP: %d, LEN: %d, MSG ID: %d\n", msg.sysid, msg.compid, msg.len, msg.msgid);
// Handle packet with waypoint component
mavlink_wpm_message_handler(&msg);
// Handle packet with parameter component
mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
// Print HIL values sent to system
if (msg.msgid == MAVLINK_MSG_ID_HIL_STATE)
{
mavlink_hil_state_t hil;
mavlink_msg_hil_state_decode(&msg, &hil);
printf("Received HIL state:\n");
printf("R: %f P: %f Y: %f\n", hil.roll, hil.pitch, hil.yaw);
roll = hil.roll;
pitch = hil.pitch;
yaw = hil.yaw;
rollspeed = hil.rollspeed;
pitchspeed = hil.pitchspeed;
yawspeed = hil.yawspeed;
speedx = hil.vx;
speedy = hil.vy;
speedz = hil.vz;
latitude = hil.lat;
longitude = hil.lon;
altitude = hil.alt;
hilEnabled = true;
}
}
}
printf("\n");
}
memset(buf, 0, BUFFER_LENGTH);
usleep(10000); // Sleep 10 ms
// Send one parameter
mavlink_pm_queued_send();
}
}
/* QNX timer version */
#if (defined __QNX__) | (defined __QNXNTO__)
uint64_t microsSinceEpoch()
{
struct timespec time;
uint64_t micros = 0;
clock_gettime(CLOCK_REALTIME, &time);
micros = (uint64_t)time.tv_sec * 100000 + time.tv_nsec/1000;
return micros;
}
#else
uint64_t microsSinceEpoch()
{
struct timeval tv;
uint64_t micros = 0;
gettimeofday(&tv, NULL);
micros = ((uint64_t)tv.tv_sec) * 1000000 + tv.tv_usec;
return micros;
}
#endif
src/GCS_MAVLink/missionlib/testing/mavlink_missionlib_data.h
-54
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@@ -1,54 +0,0 @@
/*******************************************************************************
Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
****************************************************************************/
/* This assumes you have the mavlink headers on your include path
or in the same folder as this source file */
// Disable auto-data structures
#ifndef MAVLINK_NO_DATA
#define MAVLINK_NO_DATA
#endif
#include "mavlink.h"
#include <stdbool.h>
/* MISSION LIB DATA STORAGE */
enum MAVLINK_PM_PARAMETERS
{
MAVLINK_PM_PARAM_SYSTEM_ID,
MAVLINK_PM_PARAM_ATT_K_D,
MAVLINK_PM_MAX_PARAM_COUNT // VERY IMPORTANT! KEEP THIS AS LAST ENTRY
};
/* DO NOT EDIT THIS FILE BELOW THIS POINT! */
//extern void mavlink_pm_queued_send();
struct mavlink_pm_storage {
char param_names[MAVLINK_PM_MAX_PARAM_COUNT][MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; ///< Parameter names
float param_values[MAVLINK_PM_MAX_PARAM_COUNT]; ///< Parameter values
uint16_t next_param;
uint16_t size;
};
typedef struct mavlink_pm_storage mavlink_pm_storage;
void mavlink_pm_reset_params(mavlink_pm_storage* pm);
src/GCS_MAVLink/missionlib/testing/udp.c
-1073
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File diff suppressed because it is too large Load Diff
src/GCS_MAVLink/missionlib/testing/udptest.1
-79
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@@ -1,79 +0,0 @@
.\"Modified from man(1) of FreeBSD, the NetBSD mdoc.template, and mdoc.samples.
.\"See Also:
.\"man mdoc.samples for a complete listing of options
.\"man mdoc for the short list of editing options
.\"/usr/share/misc/mdoc.template
.Dd 01.08.11 \" DATE
.Dt udptest 1 \" Program name and manual section number
.Os Darwin
.Sh NAME \" Section Header - required - don't modify
.Nm udptest,
.\" The following lines are read in generating the apropos(man -k) database. Use only key
.\" words here as the database is built based on the words here and in the .ND line.
.Nm Other_name_for_same_program(),
.Nm Yet another name for the same program.
.\" Use .Nm macro to designate other names for the documented program.
.Nd This line parsed for whatis database.
.Sh SYNOPSIS \" Section Header - required - don't modify
.Nm
.Op Fl abcd \" [-abcd]
.Op Fl a Ar path \" [-a path]
.Op Ar file \" [file]
.Op Ar \" [file ...]
.Ar arg0 \" Underlined argument - use .Ar anywhere to underline
arg2 ... \" Arguments
.Sh DESCRIPTION \" Section Header - required - don't modify
Use the .Nm macro to refer to your program throughout the man page like such:
.Nm
Underlining is accomplished with the .Ar macro like this:
.Ar underlined text .
.Pp \" Inserts a space
A list of items with descriptions:
.Bl -tag -width -indent \" Begins a tagged list
.It item a \" Each item preceded by .It macro
Description of item a
.It item b
Description of item b
.El \" Ends the list
.Pp
A list of flags and their descriptions:
.Bl -tag -width -indent \" Differs from above in tag removed
.It Fl a \"-a flag as a list item
Description of -a flag
.It Fl b
Description of -b flag
.El \" Ends the list
.Pp
.\" .Sh ENVIRONMENT \" May not be needed
.\" .Bl -tag -width "ENV_VAR_1" -indent \" ENV_VAR_1 is width of the string ENV_VAR_1
.\" .It Ev ENV_VAR_1
.\" Description of ENV_VAR_1
.\" .It Ev ENV_VAR_2
.\" Description of ENV_VAR_2
.\" .El
.Sh FILES \" File used or created by the topic of the man page
.Bl -tag -width "/Users/joeuser/Library/really_long_file_name" -compact
.It Pa /usr/share/file_name
FILE_1 description
.It Pa /Users/joeuser/Library/really_long_file_name
FILE_2 description
.El \" Ends the list
.\" .Sh DIAGNOSTICS \" May not be needed
.\" .Bl -diag
.\" .It Diagnostic Tag
.\" Diagnostic informtion here.
.\" .It Diagnostic Tag
.\" Diagnostic informtion here.
.\" .El
.Sh SEE ALSO
.\" List links in ascending order by section, alphabetically within a section.
.\" Please do not reference files that do not exist without filing a bug report
.Xr a 1 ,
.Xr b 1 ,
.Xr c 1 ,
.Xr a 2 ,
.Xr b 2 ,
.Xr a 3 ,
.Xr b 3
.\" .Sh BUGS \" Document known, unremedied bugs
.\" .Sh HISTORY \" Document history if command behaves in a unique manner
src/GCS_MAVLink/missionlib/testing/udptest.xcodeproj/.gitignore
-2
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@@ -1,2 +0,0 @@
*.mode1v3
*.pbxuser
src/GCS_MAVLink/missionlib/testing/udptest.xcodeproj/project.pbxproj
-222
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@@ -1,222 +0,0 @@
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src/GCS_MAVLink/missionlib/waypoints.c
-1028
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src/GCS_MAVLink/missionlib/waypoints.h
-104
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@@ -1,104 +0,0 @@
/*******************************************************************************
Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
****************************************************************************/
/* This assumes you have the mavlink headers on your include path
or in the same folder as this source file */
// Disable auto-data structures
#ifndef MAVLINK_NO_DATA
#define MAVLINK_NO_DATA
#endif
#include <mavlink_types.h>
extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t* buffer, uint16_t len);
#ifndef MAVLINK_SEND_UART_BYTES
#define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len)
#endif
extern mavlink_system_t mavlink_system;
#include <mavlink.h>
#include <stdbool.h>
// FIXME XXX - TO BE MOVED TO XML
enum MAVLINK_WPM_STATES
{
MAVLINK_WPM_STATE_IDLE = 0,
MAVLINK_WPM_STATE_SENDLIST,
MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
MAVLINK_WPM_STATE_GETLIST,
MAVLINK_WPM_STATE_GETLIST_GETWPS,
MAVLINK_WPM_STATE_GETLIST_GOTALL,
MAVLINK_WPM_STATE_ENUM_END
};
enum MAVLINK_WPM_CODES
{
MAVLINK_WPM_CODE_OK = 0,
MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
MAVLINK_WPM_CODE_ENUM_END
};
/* WAYPOINT MANAGER - MISSION LIB */
#define MAVLINK_WPM_MAX_WP_COUNT 15
#define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates
#ifndef MAVLINK_WPM_TEXT_FEEDBACK
#define MAVLINK_WPM_TEXT_FEEDBACK 0 ///< Report back status information as text
#endif
#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000 ///< Protocol communication timeout in milliseconds
#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000 ///< When to send a new setpoint
#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40
struct mavlink_wpm_storage {
mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints
#ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE
mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints
#endif
uint16_t size;
uint16_t max_size;
uint16_t rcv_size;
enum MAVLINK_WPM_STATES current_state;
uint16_t current_wp_id; ///< Waypoint in current transmission
uint16_t current_active_wp_id; ///< Waypoint the system is currently heading towards
uint16_t current_count;
uint8_t current_partner_sysid;
uint8_t current_partner_compid;
uint64_t timestamp_lastaction;
uint64_t timestamp_last_send_setpoint;
uint64_t timestamp_firstinside_orbit;
uint64_t timestamp_lastoutside_orbit;
uint32_t timeout;
uint32_t delay_setpoint;
float accept_range_yaw;
float accept_range_distance;
bool yaw_reached;
bool pos_reached;
bool idle;
};
typedef struct mavlink_wpm_storage mavlink_wpm_storage;
void mavlink_wpm_init(mavlink_wpm_storage* state);
void mavlink_wpm_loop();
void mavlink_wpm_message_handler(const mavlink_message_t* msg);