450 lines
16 KiB
C
Executable File
450 lines
16 KiB
C
Executable File
// MESSAGE HIL_CONTROLS PACKING
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#define MAVLINK_MSG_ID_HIL_CONTROLS 91
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typedef struct __mavlink_hil_controls_t
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{
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uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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float roll_ailerons; ///< Control output -1 .. 1
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float pitch_elevator; ///< Control output -1 .. 1
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float yaw_rudder; ///< Control output -1 .. 1
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float throttle; ///< Throttle 0 .. 1
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float aux1; ///< Aux 1, -1 .. 1
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float aux2; ///< Aux 2, -1 .. 1
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float aux3; ///< Aux 3, -1 .. 1
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float aux4; ///< Aux 4, -1 .. 1
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uint8_t mode; ///< System mode (MAV_MODE)
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uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE)
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} mavlink_hil_controls_t;
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#define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 42
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#define MAVLINK_MSG_ID_91_LEN 42
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#define MAVLINK_MSG_ID_HIL_CONTROLS_CRC 63
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#define MAVLINK_MSG_ID_91_CRC 63
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#define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \
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"HIL_CONTROLS", \
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11, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_usec) }, \
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{ "roll_ailerons", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \
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{ "pitch_elevator", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \
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{ "yaw_rudder", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \
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{ "throttle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \
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{ "aux1", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_controls_t, aux1) }, \
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{ "aux2", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_controls_t, aux2) }, \
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{ "aux3", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_controls_t, aux3) }, \
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{ "aux4", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_controls_t, aux4) }, \
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{ "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_hil_controls_t, mode) }, \
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{ "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_hil_controls_t, nav_mode) }, \
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} \
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}
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/**
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* @brief Pack a hil_controls message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @param roll_ailerons Control output -1 .. 1
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* @param pitch_elevator Control output -1 .. 1
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* @param yaw_rudder Control output -1 .. 1
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* @param throttle Throttle 0 .. 1
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* @param aux1 Aux 1, -1 .. 1
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* @param aux2 Aux 2, -1 .. 1
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* @param aux3 Aux 3, -1 .. 1
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* @param aux4 Aux 4, -1 .. 1
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* @param mode System mode (MAV_MODE)
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* @param nav_mode Navigation mode (MAV_NAV_MODE)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_HIL_CONTROLS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, roll_ailerons);
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_mav_put_float(buf, 12, pitch_elevator);
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_mav_put_float(buf, 16, yaw_rudder);
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_mav_put_float(buf, 20, throttle);
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_mav_put_float(buf, 24, aux1);
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_mav_put_float(buf, 28, aux2);
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_mav_put_float(buf, 32, aux3);
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_mav_put_float(buf, 36, aux4);
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_mav_put_uint8_t(buf, 40, mode);
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_mav_put_uint8_t(buf, 41, nav_mode);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
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#else
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mavlink_hil_controls_t packet;
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packet.time_usec = time_usec;
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packet.roll_ailerons = roll_ailerons;
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packet.pitch_elevator = pitch_elevator;
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packet.yaw_rudder = yaw_rudder;
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packet.throttle = throttle;
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packet.aux1 = aux1;
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packet.aux2 = aux2;
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packet.aux3 = aux3;
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packet.aux4 = aux4;
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packet.mode = mode;
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packet.nav_mode = nav_mode;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
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#endif
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}
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/**
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* @brief Pack a hil_controls message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @param roll_ailerons Control output -1 .. 1
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* @param pitch_elevator Control output -1 .. 1
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* @param yaw_rudder Control output -1 .. 1
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* @param throttle Throttle 0 .. 1
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* @param aux1 Aux 1, -1 .. 1
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* @param aux2 Aux 2, -1 .. 1
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* @param aux3 Aux 3, -1 .. 1
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* @param aux4 Aux 4, -1 .. 1
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* @param mode System mode (MAV_MODE)
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* @param nav_mode Navigation mode (MAV_NAV_MODE)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint64_t time_usec,float roll_ailerons,float pitch_elevator,float yaw_rudder,float throttle,float aux1,float aux2,float aux3,float aux4,uint8_t mode,uint8_t nav_mode)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_HIL_CONTROLS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, roll_ailerons);
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_mav_put_float(buf, 12, pitch_elevator);
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_mav_put_float(buf, 16, yaw_rudder);
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_mav_put_float(buf, 20, throttle);
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_mav_put_float(buf, 24, aux1);
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_mav_put_float(buf, 28, aux2);
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_mav_put_float(buf, 32, aux3);
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_mav_put_float(buf, 36, aux4);
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_mav_put_uint8_t(buf, 40, mode);
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_mav_put_uint8_t(buf, 41, nav_mode);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
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#else
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mavlink_hil_controls_t packet;
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packet.time_usec = time_usec;
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packet.roll_ailerons = roll_ailerons;
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packet.pitch_elevator = pitch_elevator;
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packet.yaw_rudder = yaw_rudder;
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packet.throttle = throttle;
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packet.aux1 = aux1;
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packet.aux2 = aux2;
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packet.aux3 = aux3;
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packet.aux4 = aux4;
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packet.mode = mode;
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packet.nav_mode = nav_mode;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC);
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#else
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
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#endif
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}
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/**
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* @brief Encode a hil_controls struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param hil_controls C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls)
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{
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return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode);
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}
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/**
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* @brief Encode a hil_controls struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param hil_controls C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_hil_controls_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls)
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{
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return mavlink_msg_hil_controls_pack_chan(system_id, component_id, chan, msg, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode);
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}
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/**
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* @brief Send a hil_controls message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @param roll_ailerons Control output -1 .. 1
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* @param pitch_elevator Control output -1 .. 1
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* @param yaw_rudder Control output -1 .. 1
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* @param throttle Throttle 0 .. 1
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* @param aux1 Aux 1, -1 .. 1
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* @param aux2 Aux 2, -1 .. 1
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* @param aux3 Aux 3, -1 .. 1
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* @param aux4 Aux 4, -1 .. 1
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* @param mode System mode (MAV_MODE)
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* @param nav_mode Navigation mode (MAV_NAV_MODE)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_HIL_CONTROLS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, roll_ailerons);
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_mav_put_float(buf, 12, pitch_elevator);
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_mav_put_float(buf, 16, yaw_rudder);
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_mav_put_float(buf, 20, throttle);
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_mav_put_float(buf, 24, aux1);
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_mav_put_float(buf, 28, aux2);
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_mav_put_float(buf, 32, aux3);
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_mav_put_float(buf, 36, aux4);
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_mav_put_uint8_t(buf, 40, mode);
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_mav_put_uint8_t(buf, 41, nav_mode);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
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#endif
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#else
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mavlink_hil_controls_t packet;
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packet.time_usec = time_usec;
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packet.roll_ailerons = roll_ailerons;
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packet.pitch_elevator = pitch_elevator;
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packet.yaw_rudder = yaw_rudder;
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packet.throttle = throttle;
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packet.aux1 = aux1;
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packet.aux2 = aux2;
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packet.aux3 = aux3;
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packet.aux4 = aux4;
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packet.mode = mode;
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packet.nav_mode = nav_mode;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
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#endif
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#endif
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}
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#if MAVLINK_MSG_ID_HIL_CONTROLS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_hil_controls_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, roll_ailerons);
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_mav_put_float(buf, 12, pitch_elevator);
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_mav_put_float(buf, 16, yaw_rudder);
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_mav_put_float(buf, 20, throttle);
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_mav_put_float(buf, 24, aux1);
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_mav_put_float(buf, 28, aux2);
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_mav_put_float(buf, 32, aux3);
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_mav_put_float(buf, 36, aux4);
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_mav_put_uint8_t(buf, 40, mode);
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_mav_put_uint8_t(buf, 41, nav_mode);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
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#endif
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#else
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mavlink_hil_controls_t *packet = (mavlink_hil_controls_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->roll_ailerons = roll_ailerons;
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packet->pitch_elevator = pitch_elevator;
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packet->yaw_rudder = yaw_rudder;
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packet->throttle = throttle;
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packet->aux1 = aux1;
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packet->aux2 = aux2;
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packet->aux3 = aux3;
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packet->aux4 = aux4;
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packet->mode = mode;
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packet->nav_mode = nav_mode;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
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#endif
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#endif
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}
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#endif
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#endif
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// MESSAGE HIL_CONTROLS UNPACKING
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/**
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* @brief Get field time_usec from hil_controls message
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*
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* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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*/
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static inline uint64_t mavlink_msg_hil_controls_get_time_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field roll_ailerons from hil_controls message
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*
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* @return Control output -1 .. 1
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*/
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static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field pitch_elevator from hil_controls message
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*
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* @return Control output -1 .. 1
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*/
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static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field yaw_rudder from hil_controls message
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*
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* @return Control output -1 .. 1
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*/
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static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Get field throttle from hil_controls message
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*
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* @return Throttle 0 .. 1
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*/
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static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 20);
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}
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/**
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* @brief Get field aux1 from hil_controls message
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*
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* @return Aux 1, -1 .. 1
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*/
|
|
static inline float mavlink_msg_hil_controls_get_aux1(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field aux2 from hil_controls message
|
|
*
|
|
* @return Aux 2, -1 .. 1
|
|
*/
|
|
static inline float mavlink_msg_hil_controls_get_aux2(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field aux3 from hil_controls message
|
|
*
|
|
* @return Aux 3, -1 .. 1
|
|
*/
|
|
static inline float mavlink_msg_hil_controls_get_aux3(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 32);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field aux4 from hil_controls message
|
|
*
|
|
* @return Aux 4, -1 .. 1
|
|
*/
|
|
static inline float mavlink_msg_hil_controls_get_aux4(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 36);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field mode from hil_controls message
|
|
*
|
|
* @return System mode (MAV_MODE)
|
|
*/
|
|
static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 40);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field nav_mode from hil_controls message
|
|
*
|
|
* @return Navigation mode (MAV_NAV_MODE)
|
|
*/
|
|
static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 41);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a hil_controls message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param hil_controls C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
|
hil_controls->time_usec = mavlink_msg_hil_controls_get_time_usec(msg);
|
|
hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg);
|
|
hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg);
|
|
hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg);
|
|
hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg);
|
|
hil_controls->aux1 = mavlink_msg_hil_controls_get_aux1(msg);
|
|
hil_controls->aux2 = mavlink_msg_hil_controls_get_aux2(msg);
|
|
hil_controls->aux3 = mavlink_msg_hil_controls_get_aux3(msg);
|
|
hil_controls->aux4 = mavlink_msg_hil_controls_get_aux4(msg);
|
|
hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg);
|
|
hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg);
|
|
#else
|
|
memcpy(hil_controls, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
|
|
#endif
|
|
}
|