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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | // MESSAGE SERVO_OUTPUT_RAW PACKING |
| 2 | |||
| 3 | #define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW 36 |
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| 4 | |||
| 5 | typedef struct __mavlink_servo_output_raw_t |
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| 6 | { |
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| 7 | uint32_t time_usec; ///< Timestamp (since UNIX epoch or microseconds since system boot) |
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| 8 | uint16_t servo1_raw; ///< Servo output 1 value, in microseconds |
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| 9 | uint16_t servo2_raw; ///< Servo output 2 value, in microseconds |
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| 10 | uint16_t servo3_raw; ///< Servo output 3 value, in microseconds |
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| 11 | uint16_t servo4_raw; ///< Servo output 4 value, in microseconds |
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| 12 | uint16_t servo5_raw; ///< Servo output 5 value, in microseconds |
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| 13 | uint16_t servo6_raw; ///< Servo output 6 value, in microseconds |
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| 14 | uint16_t servo7_raw; ///< Servo output 7 value, in microseconds |
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| 15 | uint16_t servo8_raw; ///< Servo output 8 value, in microseconds |
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| 16 | uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. |
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| 17 | } mavlink_servo_output_raw_t; |
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| 18 | |||
| 19 | #define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN 21 |
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| 20 | #define MAVLINK_MSG_ID_36_LEN 21 |
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| 21 | |||
| 22 | |||
| 23 | |||
| 24 | #define MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW { \ |
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| 25 | "SERVO_OUTPUT_RAW", \ |
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| 26 | 10, \ |
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| 27 | { { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_servo_output_raw_t, time_usec) }, \ |
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| 28 | { "servo1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_servo_output_raw_t, servo1_raw) }, \ |
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| 29 | { "servo2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_servo_output_raw_t, servo2_raw) }, \ |
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| 30 | { "servo3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_servo_output_raw_t, servo3_raw) }, \ |
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| 31 | { "servo4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_servo_output_raw_t, servo4_raw) }, \ |
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| 32 | { "servo5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_servo_output_raw_t, servo5_raw) }, \ |
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| 33 | { "servo6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_servo_output_raw_t, servo6_raw) }, \ |
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| 34 | { "servo7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_servo_output_raw_t, servo7_raw) }, \ |
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| 35 | { "servo8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_servo_output_raw_t, servo8_raw) }, \ |
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| 36 | { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_servo_output_raw_t, port) }, \ |
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| 37 | } \ |
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| 38 | } |
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| 39 | |||
| 40 | |||
| 41 | /** |
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| 42 | * @brief Pack a servo_output_raw message |
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| 43 | * @param system_id ID of this system |
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| 44 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 45 | * @param msg The MAVLink message to compress the data into |
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| 46 | * |
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| 47 | * @param time_usec Timestamp (since UNIX epoch or microseconds since system boot) |
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| 48 | * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. |
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| 49 | * @param servo1_raw Servo output 1 value, in microseconds |
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| 50 | * @param servo2_raw Servo output 2 value, in microseconds |
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| 51 | * @param servo3_raw Servo output 3 value, in microseconds |
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| 52 | * @param servo4_raw Servo output 4 value, in microseconds |
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| 53 | * @param servo5_raw Servo output 5 value, in microseconds |
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| 54 | * @param servo6_raw Servo output 6 value, in microseconds |
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| 55 | * @param servo7_raw Servo output 7 value, in microseconds |
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| 56 | * @param servo8_raw Servo output 8 value, in microseconds |
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| 57 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 58 | */ |
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| 59 | static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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| 60 | uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw) |
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| 61 | { |
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| 62 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 63 | char buf[21]; |
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| 64 | _mav_put_uint32_t(buf, 0, time_usec); |
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| 65 | _mav_put_uint16_t(buf, 4, servo1_raw); |
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| 66 | _mav_put_uint16_t(buf, 6, servo2_raw); |
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| 67 | _mav_put_uint16_t(buf, 8, servo3_raw); |
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| 68 | _mav_put_uint16_t(buf, 10, servo4_raw); |
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| 69 | _mav_put_uint16_t(buf, 12, servo5_raw); |
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| 70 | _mav_put_uint16_t(buf, 14, servo6_raw); |
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| 71 | _mav_put_uint16_t(buf, 16, servo7_raw); |
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| 72 | _mav_put_uint16_t(buf, 18, servo8_raw); |
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| 73 | _mav_put_uint8_t(buf, 20, port); |
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| 74 | |||
| 75 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21); |
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| 76 | #else |
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| 77 | mavlink_servo_output_raw_t packet; |
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| 78 | packet.time_usec = time_usec; |
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| 79 | packet.servo1_raw = servo1_raw; |
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| 80 | packet.servo2_raw = servo2_raw; |
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| 81 | packet.servo3_raw = servo3_raw; |
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| 82 | packet.servo4_raw = servo4_raw; |
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| 83 | packet.servo5_raw = servo5_raw; |
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| 84 | packet.servo6_raw = servo6_raw; |
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| 85 | packet.servo7_raw = servo7_raw; |
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| 86 | packet.servo8_raw = servo8_raw; |
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| 87 | packet.port = port; |
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| 88 | |||
| 89 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21); |
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| 90 | #endif |
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| 91 | |||
| 92 | msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; |
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| 93 | return mavlink_finalize_message(msg, system_id, component_id, 21, 222); |
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| 94 | } |
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| 95 | |||
| 96 | /** |
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| 97 | * @brief Pack a servo_output_raw message on a channel |
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| 98 | * @param system_id ID of this system |
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| 99 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 100 | * @param chan The MAVLink channel this message was sent over |
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| 101 | * @param msg The MAVLink message to compress the data into |
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| 102 | * @param time_usec Timestamp (since UNIX epoch or microseconds since system boot) |
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| 103 | * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. |
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| 104 | * @param servo1_raw Servo output 1 value, in microseconds |
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| 105 | * @param servo2_raw Servo output 2 value, in microseconds |
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| 106 | * @param servo3_raw Servo output 3 value, in microseconds |
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| 107 | * @param servo4_raw Servo output 4 value, in microseconds |
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| 108 | * @param servo5_raw Servo output 5 value, in microseconds |
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| 109 | * @param servo6_raw Servo output 6 value, in microseconds |
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| 110 | * @param servo7_raw Servo output 7 value, in microseconds |
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| 111 | * @param servo8_raw Servo output 8 value, in microseconds |
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| 112 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 113 | */ |
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| 114 | static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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| 115 | mavlink_message_t* msg, |
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| 116 | uint32_t time_usec,uint8_t port,uint16_t servo1_raw,uint16_t servo2_raw,uint16_t servo3_raw,uint16_t servo4_raw,uint16_t servo5_raw,uint16_t servo6_raw,uint16_t servo7_raw,uint16_t servo8_raw) |
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| 117 | { |
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| 118 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 119 | char buf[21]; |
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| 120 | _mav_put_uint32_t(buf, 0, time_usec); |
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| 121 | _mav_put_uint16_t(buf, 4, servo1_raw); |
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| 122 | _mav_put_uint16_t(buf, 6, servo2_raw); |
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| 123 | _mav_put_uint16_t(buf, 8, servo3_raw); |
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| 124 | _mav_put_uint16_t(buf, 10, servo4_raw); |
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| 125 | _mav_put_uint16_t(buf, 12, servo5_raw); |
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| 126 | _mav_put_uint16_t(buf, 14, servo6_raw); |
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| 127 | _mav_put_uint16_t(buf, 16, servo7_raw); |
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| 128 | _mav_put_uint16_t(buf, 18, servo8_raw); |
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| 129 | _mav_put_uint8_t(buf, 20, port); |
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| 130 | |||
| 131 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21); |
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| 132 | #else |
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| 133 | mavlink_servo_output_raw_t packet; |
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| 134 | packet.time_usec = time_usec; |
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| 135 | packet.servo1_raw = servo1_raw; |
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| 136 | packet.servo2_raw = servo2_raw; |
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| 137 | packet.servo3_raw = servo3_raw; |
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| 138 | packet.servo4_raw = servo4_raw; |
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| 139 | packet.servo5_raw = servo5_raw; |
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| 140 | packet.servo6_raw = servo6_raw; |
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| 141 | packet.servo7_raw = servo7_raw; |
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| 142 | packet.servo8_raw = servo8_raw; |
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| 143 | packet.port = port; |
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| 144 | |||
| 145 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21); |
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| 146 | #endif |
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| 147 | |||
| 148 | msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; |
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| 149 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 222); |
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| 150 | } |
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| 151 | |||
| 152 | /** |
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| 153 | * @brief Encode a servo_output_raw struct into a message |
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| 154 | * |
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| 155 | * @param system_id ID of this system |
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| 156 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 157 | * @param msg The MAVLink message to compress the data into |
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| 158 | * @param servo_output_raw C-struct to read the message contents from |
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| 159 | */ |
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| 160 | static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw) |
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| 161 | { |
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| 162 | return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->time_usec, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw); |
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| 163 | } |
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| 164 | |||
| 165 | /** |
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| 166 | * @brief Send a servo_output_raw message |
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| 167 | * @param chan MAVLink channel to send the message |
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| 168 | * |
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| 169 | * @param time_usec Timestamp (since UNIX epoch or microseconds since system boot) |
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| 170 | * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. |
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| 171 | * @param servo1_raw Servo output 1 value, in microseconds |
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| 172 | * @param servo2_raw Servo output 2 value, in microseconds |
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| 173 | * @param servo3_raw Servo output 3 value, in microseconds |
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| 174 | * @param servo4_raw Servo output 4 value, in microseconds |
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| 175 | * @param servo5_raw Servo output 5 value, in microseconds |
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| 176 | * @param servo6_raw Servo output 6 value, in microseconds |
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| 177 | * @param servo7_raw Servo output 7 value, in microseconds |
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| 178 | * @param servo8_raw Servo output 8 value, in microseconds |
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| 179 | */ |
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| 180 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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| 181 | |||
| 182 | static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw) |
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| 183 | { |
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| 184 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 185 | char buf[21]; |
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| 186 | _mav_put_uint32_t(buf, 0, time_usec); |
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| 187 | _mav_put_uint16_t(buf, 4, servo1_raw); |
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| 188 | _mav_put_uint16_t(buf, 6, servo2_raw); |
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| 189 | _mav_put_uint16_t(buf, 8, servo3_raw); |
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| 190 | _mav_put_uint16_t(buf, 10, servo4_raw); |
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| 191 | _mav_put_uint16_t(buf, 12, servo5_raw); |
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| 192 | _mav_put_uint16_t(buf, 14, servo6_raw); |
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| 193 | _mav_put_uint16_t(buf, 16, servo7_raw); |
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| 194 | _mav_put_uint16_t(buf, 18, servo8_raw); |
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| 195 | _mav_put_uint8_t(buf, 20, port); |
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| 196 | |||
| 197 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, 21, 222); |
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| 198 | #else |
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| 199 | mavlink_servo_output_raw_t packet; |
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| 200 | packet.time_usec = time_usec; |
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| 201 | packet.servo1_raw = servo1_raw; |
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| 202 | packet.servo2_raw = servo2_raw; |
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| 203 | packet.servo3_raw = servo3_raw; |
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| 204 | packet.servo4_raw = servo4_raw; |
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| 205 | packet.servo5_raw = servo5_raw; |
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| 206 | packet.servo6_raw = servo6_raw; |
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| 207 | packet.servo7_raw = servo7_raw; |
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| 208 | packet.servo8_raw = servo8_raw; |
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| 209 | packet.port = port; |
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| 210 | |||
| 211 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, 21, 222); |
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| 212 | #endif |
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| 213 | } |
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| 214 | |||
| 215 | #endif |
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| 216 | |||
| 217 | // MESSAGE SERVO_OUTPUT_RAW UNPACKING |
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| 218 | |||
| 219 | |||
| 220 | /** |
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| 221 | * @brief Get field time_usec from servo_output_raw message |
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| 222 | * |
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| 223 | * @return Timestamp (since UNIX epoch or microseconds since system boot) |
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| 224 | */ |
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| 225 | static inline uint32_t mavlink_msg_servo_output_raw_get_time_usec(const mavlink_message_t* msg) |
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| 226 | { |
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| 227 | return _MAV_RETURN_uint32_t(msg, 0); |
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| 228 | } |
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| 229 | |||
| 230 | /** |
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| 231 | * @brief Get field port from servo_output_raw message |
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| 232 | * |
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| 233 | * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. |
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| 234 | */ |
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| 235 | static inline uint8_t mavlink_msg_servo_output_raw_get_port(const mavlink_message_t* msg) |
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| 236 | { |
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| 237 | return _MAV_RETURN_uint8_t(msg, 20); |
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| 238 | } |
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| 239 | |||
| 240 | /** |
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| 241 | * @brief Get field servo1_raw from servo_output_raw message |
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| 242 | * |
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| 243 | * @return Servo output 1 value, in microseconds |
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| 244 | */ |
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| 245 | static inline uint16_t mavlink_msg_servo_output_raw_get_servo1_raw(const mavlink_message_t* msg) |
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| 246 | { |
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| 247 | return _MAV_RETURN_uint16_t(msg, 4); |
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| 248 | } |
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| 249 | |||
| 250 | /** |
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| 251 | * @brief Get field servo2_raw from servo_output_raw message |
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| 252 | * |
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| 253 | * @return Servo output 2 value, in microseconds |
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| 254 | */ |
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| 255 | static inline uint16_t mavlink_msg_servo_output_raw_get_servo2_raw(const mavlink_message_t* msg) |
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| 256 | { |
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| 257 | return _MAV_RETURN_uint16_t(msg, 6); |
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| 258 | } |
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| 259 | |||
| 260 | /** |
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| 261 | * @brief Get field servo3_raw from servo_output_raw message |
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| 262 | * |
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| 263 | * @return Servo output 3 value, in microseconds |
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| 264 | */ |
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| 265 | static inline uint16_t mavlink_msg_servo_output_raw_get_servo3_raw(const mavlink_message_t* msg) |
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| 266 | { |
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| 267 | return _MAV_RETURN_uint16_t(msg, 8); |
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| 268 | } |
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| 269 | |||
| 270 | /** |
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| 271 | * @brief Get field servo4_raw from servo_output_raw message |
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| 272 | * |
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| 273 | * @return Servo output 4 value, in microseconds |
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| 274 | */ |
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| 275 | static inline uint16_t mavlink_msg_servo_output_raw_get_servo4_raw(const mavlink_message_t* msg) |
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| 276 | { |
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| 277 | return _MAV_RETURN_uint16_t(msg, 10); |
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| 278 | } |
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| 279 | |||
| 280 | /** |
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| 281 | * @brief Get field servo5_raw from servo_output_raw message |
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| 282 | * |
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| 283 | * @return Servo output 5 value, in microseconds |
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| 284 | */ |
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| 285 | static inline uint16_t mavlink_msg_servo_output_raw_get_servo5_raw(const mavlink_message_t* msg) |
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| 286 | { |
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| 287 | return _MAV_RETURN_uint16_t(msg, 12); |
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| 288 | } |
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| 289 | |||
| 290 | /** |
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| 291 | * @brief Get field servo6_raw from servo_output_raw message |
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| 292 | * |
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| 293 | * @return Servo output 6 value, in microseconds |
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| 294 | */ |
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| 295 | static inline uint16_t mavlink_msg_servo_output_raw_get_servo6_raw(const mavlink_message_t* msg) |
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| 296 | { |
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| 297 | return _MAV_RETURN_uint16_t(msg, 14); |
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| 298 | } |
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| 299 | |||
| 300 | /** |
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| 301 | * @brief Get field servo7_raw from servo_output_raw message |
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| 302 | * |
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| 303 | * @return Servo output 7 value, in microseconds |
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| 304 | */ |
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| 305 | static inline uint16_t mavlink_msg_servo_output_raw_get_servo7_raw(const mavlink_message_t* msg) |
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| 306 | { |
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| 307 | return _MAV_RETURN_uint16_t(msg, 16); |
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| 308 | } |
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| 309 | |||
| 310 | /** |
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| 311 | * @brief Get field servo8_raw from servo_output_raw message |
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| 312 | * |
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| 313 | * @return Servo output 8 value, in microseconds |
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| 314 | */ |
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| 315 | static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink_message_t* msg) |
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| 316 | { |
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| 317 | return _MAV_RETURN_uint16_t(msg, 18); |
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| 318 | } |
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| 319 | |||
| 320 | /** |
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| 321 | * @brief Decode a servo_output_raw message into a struct |
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| 322 | * |
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| 323 | * @param msg The message to decode |
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| 324 | * @param servo_output_raw C-struct to decode the message contents into |
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| 325 | */ |
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| 326 | static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t* msg, mavlink_servo_output_raw_t* servo_output_raw) |
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| 327 | { |
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| 328 | #if MAVLINK_NEED_BYTE_SWAP |
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| 329 | servo_output_raw->time_usec = mavlink_msg_servo_output_raw_get_time_usec(msg); |
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| 330 | servo_output_raw->servo1_raw = mavlink_msg_servo_output_raw_get_servo1_raw(msg); |
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| 331 | servo_output_raw->servo2_raw = mavlink_msg_servo_output_raw_get_servo2_raw(msg); |
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| 332 | servo_output_raw->servo3_raw = mavlink_msg_servo_output_raw_get_servo3_raw(msg); |
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| 333 | servo_output_raw->servo4_raw = mavlink_msg_servo_output_raw_get_servo4_raw(msg); |
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| 334 | servo_output_raw->servo5_raw = mavlink_msg_servo_output_raw_get_servo5_raw(msg); |
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| 335 | servo_output_raw->servo6_raw = mavlink_msg_servo_output_raw_get_servo6_raw(msg); |
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| 336 | servo_output_raw->servo7_raw = mavlink_msg_servo_output_raw_get_servo7_raw(msg); |
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| 337 | servo_output_raw->servo8_raw = mavlink_msg_servo_output_raw_get_servo8_raw(msg); |
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| 338 | servo_output_raw->port = mavlink_msg_servo_output_raw_get_port(msg); |
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| 339 | #else |
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| 340 | memcpy(servo_output_raw, _MAV_PAYLOAD(msg), 21); |
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| 341 | #endif |
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| 342 | } |