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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | // MESSAGE RC_CHANNELS_RAW PACKING |
| 2 | |||
| 3 | #define MAVLINK_MSG_ID_RC_CHANNELS_RAW 35 |
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| 4 | |||
| 5 | typedef struct __mavlink_rc_channels_raw_t |
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| 6 | { |
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| 7 | uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) |
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| 8 | uint16_t chan1_raw; ///< RC channel 1 value, in microseconds |
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| 9 | uint16_t chan2_raw; ///< RC channel 2 value, in microseconds |
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| 10 | uint16_t chan3_raw; ///< RC channel 3 value, in microseconds |
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| 11 | uint16_t chan4_raw; ///< RC channel 4 value, in microseconds |
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| 12 | uint16_t chan5_raw; ///< RC channel 5 value, in microseconds |
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| 13 | uint16_t chan6_raw; ///< RC channel 6 value, in microseconds |
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| 14 | uint16_t chan7_raw; ///< RC channel 7 value, in microseconds |
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| 15 | uint16_t chan8_raw; ///< RC channel 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 | uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100% |
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| 18 | } mavlink_rc_channels_raw_t; |
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| 19 | |||
| 20 | #define MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN 22 |
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| 21 | #define MAVLINK_MSG_ID_35_LEN 22 |
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| 22 | |||
| 23 | |||
| 24 | |||
| 25 | #define MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW { \ |
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| 26 | "RC_CHANNELS_RAW", \ |
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| 27 | 11, \ |
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| 28 | { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_rc_channels_raw_t, time_boot_ms) }, \ |
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| 29 | { "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_rc_channels_raw_t, chan1_raw) }, \ |
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| 30 | { "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_rc_channels_raw_t, chan2_raw) }, \ |
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| 31 | { "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_rc_channels_raw_t, chan3_raw) }, \ |
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| 32 | { "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_rc_channels_raw_t, chan4_raw) }, \ |
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| 33 | { "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rc_channels_raw_t, chan5_raw) }, \ |
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| 34 | { "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_rc_channels_raw_t, chan6_raw) }, \ |
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| 35 | { "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_rc_channels_raw_t, chan7_raw) }, \ |
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| 36 | { "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_rc_channels_raw_t, chan8_raw) }, \ |
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| 37 | { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_rc_channels_raw_t, port) }, \ |
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| 38 | { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_rc_channels_raw_t, rssi) }, \ |
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| 39 | } \ |
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| 40 | } |
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| 41 | |||
| 42 | |||
| 43 | /** |
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| 44 | * @brief Pack a rc_channels_raw message |
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| 45 | * @param system_id ID of this system |
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| 46 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 47 | * @param msg The MAVLink message to compress the data into |
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| 48 | * |
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| 49 | * @param time_boot_ms Timestamp (milliseconds since system boot) |
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| 50 | * @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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| 51 | * @param chan1_raw RC channel 1 value, in microseconds |
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| 52 | * @param chan2_raw RC channel 2 value, in microseconds |
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| 53 | * @param chan3_raw RC channel 3 value, in microseconds |
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| 54 | * @param chan4_raw RC channel 4 value, in microseconds |
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| 55 | * @param chan5_raw RC channel 5 value, in microseconds |
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| 56 | * @param chan6_raw RC channel 6 value, in microseconds |
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| 57 | * @param chan7_raw RC channel 7 value, in microseconds |
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| 58 | * @param chan8_raw RC channel 8 value, in microseconds |
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| 59 | * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% |
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| 60 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 61 | */ |
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| 62 | static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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| 63 | uint32_t time_boot_ms, uint8_t port, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) |
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| 64 | { |
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| 65 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 66 | char buf[22]; |
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| 67 | _mav_put_uint32_t(buf, 0, time_boot_ms); |
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| 68 | _mav_put_uint16_t(buf, 4, chan1_raw); |
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| 69 | _mav_put_uint16_t(buf, 6, chan2_raw); |
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| 70 | _mav_put_uint16_t(buf, 8, chan3_raw); |
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| 71 | _mav_put_uint16_t(buf, 10, chan4_raw); |
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| 72 | _mav_put_uint16_t(buf, 12, chan5_raw); |
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| 73 | _mav_put_uint16_t(buf, 14, chan6_raw); |
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| 74 | _mav_put_uint16_t(buf, 16, chan7_raw); |
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| 75 | _mav_put_uint16_t(buf, 18, chan8_raw); |
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| 76 | _mav_put_uint8_t(buf, 20, port); |
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| 77 | _mav_put_uint8_t(buf, 21, rssi); |
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| 78 | |||
| 79 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22); |
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| 80 | #else |
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| 81 | mavlink_rc_channels_raw_t packet; |
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| 82 | packet.time_boot_ms = time_boot_ms; |
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| 83 | packet.chan1_raw = chan1_raw; |
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| 84 | packet.chan2_raw = chan2_raw; |
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| 85 | packet.chan3_raw = chan3_raw; |
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| 86 | packet.chan4_raw = chan4_raw; |
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| 87 | packet.chan5_raw = chan5_raw; |
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| 88 | packet.chan6_raw = chan6_raw; |
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| 89 | packet.chan7_raw = chan7_raw; |
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| 90 | packet.chan8_raw = chan8_raw; |
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| 91 | packet.port = port; |
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| 92 | packet.rssi = rssi; |
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| 93 | |||
| 94 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22); |
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| 95 | #endif |
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| 96 | |||
| 97 | msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW; |
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| 98 | return mavlink_finalize_message(msg, system_id, component_id, 22, 244); |
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| 99 | } |
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| 100 | |||
| 101 | /** |
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| 102 | * @brief Pack a rc_channels_raw message on a channel |
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| 103 | * @param system_id ID of this system |
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| 104 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 105 | * @param chan The MAVLink channel this message was sent over |
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| 106 | * @param msg The MAVLink message to compress the data into |
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| 107 | * @param time_boot_ms Timestamp (milliseconds since system boot) |
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| 108 | * @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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| 109 | * @param chan1_raw RC channel 1 value, in microseconds |
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| 110 | * @param chan2_raw RC channel 2 value, in microseconds |
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| 111 | * @param chan3_raw RC channel 3 value, in microseconds |
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| 112 | * @param chan4_raw RC channel 4 value, in microseconds |
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| 113 | * @param chan5_raw RC channel 5 value, in microseconds |
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| 114 | * @param chan6_raw RC channel 6 value, in microseconds |
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| 115 | * @param chan7_raw RC channel 7 value, in microseconds |
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| 116 | * @param chan8_raw RC channel 8 value, in microseconds |
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| 117 | * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% |
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| 118 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 119 | */ |
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| 120 | static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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| 121 | mavlink_message_t* msg, |
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| 122 | uint32_t time_boot_ms,uint8_t port,uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw,uint8_t rssi) |
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| 123 | { |
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| 124 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 125 | char buf[22]; |
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| 126 | _mav_put_uint32_t(buf, 0, time_boot_ms); |
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| 127 | _mav_put_uint16_t(buf, 4, chan1_raw); |
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| 128 | _mav_put_uint16_t(buf, 6, chan2_raw); |
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| 129 | _mav_put_uint16_t(buf, 8, chan3_raw); |
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| 130 | _mav_put_uint16_t(buf, 10, chan4_raw); |
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| 131 | _mav_put_uint16_t(buf, 12, chan5_raw); |
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| 132 | _mav_put_uint16_t(buf, 14, chan6_raw); |
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| 133 | _mav_put_uint16_t(buf, 16, chan7_raw); |
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| 134 | _mav_put_uint16_t(buf, 18, chan8_raw); |
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| 135 | _mav_put_uint8_t(buf, 20, port); |
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| 136 | _mav_put_uint8_t(buf, 21, rssi); |
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| 137 | |||
| 138 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22); |
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| 139 | #else |
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| 140 | mavlink_rc_channels_raw_t packet; |
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| 141 | packet.time_boot_ms = time_boot_ms; |
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| 142 | packet.chan1_raw = chan1_raw; |
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| 143 | packet.chan2_raw = chan2_raw; |
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| 144 | packet.chan3_raw = chan3_raw; |
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| 145 | packet.chan4_raw = chan4_raw; |
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| 146 | packet.chan5_raw = chan5_raw; |
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| 147 | packet.chan6_raw = chan6_raw; |
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| 148 | packet.chan7_raw = chan7_raw; |
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| 149 | packet.chan8_raw = chan8_raw; |
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| 150 | packet.port = port; |
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| 151 | packet.rssi = rssi; |
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| 152 | |||
| 153 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22); |
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| 154 | #endif |
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| 155 | |||
| 156 | msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW; |
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| 157 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 22, 244); |
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| 158 | } |
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| 159 | |||
| 160 | /** |
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| 161 | * @brief Encode a rc_channels_raw struct into a message |
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| 162 | * |
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| 163 | * @param system_id ID of this system |
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| 164 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 165 | * @param msg The MAVLink message to compress the data into |
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| 166 | * @param rc_channels_raw C-struct to read the message contents from |
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| 167 | */ |
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| 168 | static inline uint16_t mavlink_msg_rc_channels_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_raw_t* rc_channels_raw) |
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| 169 | { |
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| 170 | return mavlink_msg_rc_channels_raw_pack(system_id, component_id, msg, rc_channels_raw->time_boot_ms, rc_channels_raw->port, rc_channels_raw->chan1_raw, rc_channels_raw->chan2_raw, rc_channels_raw->chan3_raw, rc_channels_raw->chan4_raw, rc_channels_raw->chan5_raw, rc_channels_raw->chan6_raw, rc_channels_raw->chan7_raw, rc_channels_raw->chan8_raw, rc_channels_raw->rssi); |
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| 171 | } |
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| 172 | |||
| 173 | /** |
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| 174 | * @brief Send a rc_channels_raw message |
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| 175 | * @param chan MAVLink channel to send the message |
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| 176 | * |
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| 177 | * @param time_boot_ms Timestamp (milliseconds since system boot) |
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| 178 | * @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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| 179 | * @param chan1_raw RC channel 1 value, in microseconds |
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| 180 | * @param chan2_raw RC channel 2 value, in microseconds |
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| 181 | * @param chan3_raw RC channel 3 value, in microseconds |
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| 182 | * @param chan4_raw RC channel 4 value, in microseconds |
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| 183 | * @param chan5_raw RC channel 5 value, in microseconds |
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| 184 | * @param chan6_raw RC channel 6 value, in microseconds |
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| 185 | * @param chan7_raw RC channel 7 value, in microseconds |
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| 186 | * @param chan8_raw RC channel 8 value, in microseconds |
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| 187 | * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% |
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| 188 | */ |
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| 189 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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| 190 | |||
| 191 | static inline void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) |
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| 192 | { |
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| 193 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 194 | char buf[22]; |
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| 195 | _mav_put_uint32_t(buf, 0, time_boot_ms); |
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| 196 | _mav_put_uint16_t(buf, 4, chan1_raw); |
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| 197 | _mav_put_uint16_t(buf, 6, chan2_raw); |
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| 198 | _mav_put_uint16_t(buf, 8, chan3_raw); |
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| 199 | _mav_put_uint16_t(buf, 10, chan4_raw); |
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| 200 | _mav_put_uint16_t(buf, 12, chan5_raw); |
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| 201 | _mav_put_uint16_t(buf, 14, chan6_raw); |
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| 202 | _mav_put_uint16_t(buf, 16, chan7_raw); |
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| 203 | _mav_put_uint16_t(buf, 18, chan8_raw); |
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| 204 | _mav_put_uint8_t(buf, 20, port); |
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| 205 | _mav_put_uint8_t(buf, 21, rssi); |
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| 206 | |||
| 207 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, buf, 22, 244); |
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| 208 | #else |
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| 209 | mavlink_rc_channels_raw_t packet; |
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| 210 | packet.time_boot_ms = time_boot_ms; |
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| 211 | packet.chan1_raw = chan1_raw; |
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| 212 | packet.chan2_raw = chan2_raw; |
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| 213 | packet.chan3_raw = chan3_raw; |
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| 214 | packet.chan4_raw = chan4_raw; |
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| 215 | packet.chan5_raw = chan5_raw; |
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| 216 | packet.chan6_raw = chan6_raw; |
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| 217 | packet.chan7_raw = chan7_raw; |
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| 218 | packet.chan8_raw = chan8_raw; |
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| 219 | packet.port = port; |
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| 220 | packet.rssi = rssi; |
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| 221 | |||
| 222 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, (const char *)&packet, 22, 244); |
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| 223 | #endif |
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| 224 | } |
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| 225 | |||
| 226 | #endif |
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| 227 | |||
| 228 | // MESSAGE RC_CHANNELS_RAW UNPACKING |
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| 229 | |||
| 230 | |||
| 231 | /** |
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| 232 | * @brief Get field time_boot_ms from rc_channels_raw message |
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| 233 | * |
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| 234 | * @return Timestamp (milliseconds since system boot) |
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| 235 | */ |
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| 236 | static inline uint32_t mavlink_msg_rc_channels_raw_get_time_boot_ms(const mavlink_message_t* msg) |
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| 237 | { |
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| 238 | return _MAV_RETURN_uint32_t(msg, 0); |
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| 239 | } |
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| 240 | |||
| 241 | /** |
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| 242 | * @brief Get field port from rc_channels_raw message |
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| 243 | * |
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| 244 | * @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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| 245 | */ |
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| 246 | static inline uint8_t mavlink_msg_rc_channels_raw_get_port(const mavlink_message_t* msg) |
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| 247 | { |
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| 248 | return _MAV_RETURN_uint8_t(msg, 20); |
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| 249 | } |
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| 250 | |||
| 251 | /** |
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| 252 | * @brief Get field chan1_raw from rc_channels_raw message |
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| 253 | * |
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| 254 | * @return RC channel 1 value, in microseconds |
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| 255 | */ |
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| 256 | static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_message_t* msg) |
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| 257 | { |
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| 258 | return _MAV_RETURN_uint16_t(msg, 4); |
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| 259 | } |
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| 260 | |||
| 261 | /** |
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| 262 | * @brief Get field chan2_raw from rc_channels_raw message |
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| 263 | * |
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| 264 | * @return RC channel 2 value, in microseconds |
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| 265 | */ |
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| 266 | static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_message_t* msg) |
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| 267 | { |
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| 268 | return _MAV_RETURN_uint16_t(msg, 6); |
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| 269 | } |
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| 270 | |||
| 271 | /** |
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| 272 | * @brief Get field chan3_raw from rc_channels_raw message |
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| 273 | * |
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| 274 | * @return RC channel 3 value, in microseconds |
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| 275 | */ |
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| 276 | static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_message_t* msg) |
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| 277 | { |
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| 278 | return _MAV_RETURN_uint16_t(msg, 8); |
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| 279 | } |
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| 280 | |||
| 281 | /** |
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| 282 | * @brief Get field chan4_raw from rc_channels_raw message |
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| 283 | * |
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| 284 | * @return RC channel 4 value, in microseconds |
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| 285 | */ |
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| 286 | static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_message_t* msg) |
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| 287 | { |
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| 288 | return _MAV_RETURN_uint16_t(msg, 10); |
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| 289 | } |
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| 290 | |||
| 291 | /** |
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| 292 | * @brief Get field chan5_raw from rc_channels_raw message |
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| 293 | * |
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| 294 | * @return RC channel 5 value, in microseconds |
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| 295 | */ |
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| 296 | static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_message_t* msg) |
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| 297 | { |
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| 298 | return _MAV_RETURN_uint16_t(msg, 12); |
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| 299 | } |
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| 300 | |||
| 301 | /** |
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| 302 | * @brief Get field chan6_raw from rc_channels_raw message |
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| 303 | * |
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| 304 | * @return RC channel 6 value, in microseconds |
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| 305 | */ |
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| 306 | static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_message_t* msg) |
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| 307 | { |
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| 308 | return _MAV_RETURN_uint16_t(msg, 14); |
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| 309 | } |
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| 310 | |||
| 311 | /** |
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| 312 | * @brief Get field chan7_raw from rc_channels_raw message |
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| 313 | * |
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| 314 | * @return RC channel 7 value, in microseconds |
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| 315 | */ |
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| 316 | static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_message_t* msg) |
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| 317 | { |
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| 318 | return _MAV_RETURN_uint16_t(msg, 16); |
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| 319 | } |
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| 320 | |||
| 321 | /** |
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| 322 | * @brief Get field chan8_raw from rc_channels_raw message |
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| 323 | * |
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| 324 | * @return RC channel 8 value, in microseconds |
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| 325 | */ |
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| 326 | static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_message_t* msg) |
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| 327 | { |
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| 328 | return _MAV_RETURN_uint16_t(msg, 18); |
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| 329 | } |
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| 330 | |||
| 331 | /** |
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| 332 | * @brief Get field rssi from rc_channels_raw message |
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| 333 | * |
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| 334 | * @return Receive signal strength indicator, 0: 0%, 255: 100% |
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| 335 | */ |
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| 336 | static inline uint8_t mavlink_msg_rc_channels_raw_get_rssi(const mavlink_message_t* msg) |
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| 337 | { |
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| 338 | return _MAV_RETURN_uint8_t(msg, 21); |
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| 339 | } |
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| 340 | |||
| 341 | /** |
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| 342 | * @brief Decode a rc_channels_raw message into a struct |
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| 343 | * |
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| 344 | * @param msg The message to decode |
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| 345 | * @param rc_channels_raw C-struct to decode the message contents into |
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| 346 | */ |
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| 347 | static inline void mavlink_msg_rc_channels_raw_decode(const mavlink_message_t* msg, mavlink_rc_channels_raw_t* rc_channels_raw) |
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| 348 | { |
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| 349 | #if MAVLINK_NEED_BYTE_SWAP |
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| 350 | rc_channels_raw->time_boot_ms = mavlink_msg_rc_channels_raw_get_time_boot_ms(msg); |
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| 351 | rc_channels_raw->chan1_raw = mavlink_msg_rc_channels_raw_get_chan1_raw(msg); |
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| 352 | rc_channels_raw->chan2_raw = mavlink_msg_rc_channels_raw_get_chan2_raw(msg); |
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| 353 | rc_channels_raw->chan3_raw = mavlink_msg_rc_channels_raw_get_chan3_raw(msg); |
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| 354 | rc_channels_raw->chan4_raw = mavlink_msg_rc_channels_raw_get_chan4_raw(msg); |
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| 355 | rc_channels_raw->chan5_raw = mavlink_msg_rc_channels_raw_get_chan5_raw(msg); |
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| 356 | rc_channels_raw->chan6_raw = mavlink_msg_rc_channels_raw_get_chan6_raw(msg); |
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| 357 | rc_channels_raw->chan7_raw = mavlink_msg_rc_channels_raw_get_chan7_raw(msg); |
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| 358 | rc_channels_raw->chan8_raw = mavlink_msg_rc_channels_raw_get_chan8_raw(msg); |
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| 359 | rc_channels_raw->port = mavlink_msg_rc_channels_raw_get_port(msg); |
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| 360 | rc_channels_raw->rssi = mavlink_msg_rc_channels_raw_get_rssi(msg); |
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| 361 | #else |
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| 362 | memcpy(rc_channels_raw, _MAV_PAYLOAD(msg), 22); |
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| 363 | #endif |
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| 364 | } |