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| // MESSAGE NAV_CONTROLLER_OUTPUT PACKING |
| |
| #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62 |
| |
| typedef struct __mavlink_nav_controller_output_t |
| { |
| float nav_roll; ///< Current desired roll in degrees |
| float nav_pitch; ///< Current desired pitch in degrees |
| int16_t nav_bearing; ///< Current desired heading in degrees |
| int16_t target_bearing; ///< Bearing to current waypoint/target in degrees |
| uint16_t wp_dist; ///< Distance to active waypoint in meters |
| float alt_error; ///< Current altitude error in meters |
| float aspd_error; ///< Current airspeed error in meters/second |
| float xtrack_error; ///< Current crosstrack error on x-y plane in meters |
| } mavlink_nav_controller_output_t; |
| |
| #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN 26 |
| #define MAVLINK_MSG_ID_62_LEN 26 |
| |
| |
| |
| #define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT { \ |
| "NAV_CONTROLLER_OUTPUT", \ |
| 8, \ |
| { { "nav_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \ |
| { "nav_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \ |
| { "nav_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \ |
| { "target_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \ |
| { "wp_dist", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \ |
| { "alt_error", NULL, MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_nav_controller_output_t, alt_error) }, \ |
| { "aspd_error", NULL, MAVLINK_TYPE_FLOAT, 0, 18, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \ |
| { "xtrack_error", NULL, MAVLINK_TYPE_FLOAT, 0, 22, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \ |
| } \ |
| } |
| |
| |
| /** |
| * @brief Pack a nav_controller_output message |
| * @param system_id ID of this system |
| * @param component_id ID of this component (e.g. 200 for IMU) |
| * @param msg The MAVLink message to compress the data into |
| * |
| * @param nav_roll Current desired roll in degrees |
| * @param nav_pitch Current desired pitch in degrees |
| * @param nav_bearing Current desired heading in degrees |
| * @param target_bearing Bearing to current waypoint/target in degrees |
| * @param wp_dist Distance to active waypoint in meters |
| * @param alt_error Current altitude error in meters |
| * @param aspd_error Current airspeed error in meters/second |
| * @param xtrack_error Current crosstrack error on x-y plane in meters |
| * @return length of the message in bytes (excluding serial stream start sign) |
| */ |
| static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
| float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[26]; |
| _mav_put_float(buf, 0, nav_roll); |
| _mav_put_float(buf, 4, nav_pitch); |
| _mav_put_int16_t(buf, 8, nav_bearing); |
| _mav_put_int16_t(buf, 10, target_bearing); |
| _mav_put_uint16_t(buf, 12, wp_dist); |
| _mav_put_float(buf, 14, alt_error); |
| _mav_put_float(buf, 18, aspd_error); |
| _mav_put_float(buf, 22, xtrack_error); |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26); |
| #else |
| mavlink_nav_controller_output_t packet; |
| packet.nav_roll = nav_roll; |
| packet.nav_pitch = nav_pitch; |
| packet.nav_bearing = nav_bearing; |
| packet.target_bearing = target_bearing; |
| packet.wp_dist = wp_dist; |
| packet.alt_error = alt_error; |
| packet.aspd_error = aspd_error; |
| packet.xtrack_error = xtrack_error; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; |
| return mavlink_finalize_message(msg, system_id, component_id, 26); |
| } |
| |
| /** |
| * @brief Pack a nav_controller_output message on a channel |
| * @param system_id ID of this system |
| * @param component_id ID of this component (e.g. 200 for IMU) |
| * @param chan The MAVLink channel this message was sent over |
| * @param msg The MAVLink message to compress the data into |
| * @param nav_roll Current desired roll in degrees |
| * @param nav_pitch Current desired pitch in degrees |
| * @param nav_bearing Current desired heading in degrees |
| * @param target_bearing Bearing to current waypoint/target in degrees |
| * @param wp_dist Distance to active waypoint in meters |
| * @param alt_error Current altitude error in meters |
| * @param aspd_error Current airspeed error in meters/second |
| * @param xtrack_error Current crosstrack error on x-y plane in meters |
| * @return length of the message in bytes (excluding serial stream start sign) |
| */ |
| static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
| mavlink_message_t* msg, |
| float nav_roll,float nav_pitch,int16_t nav_bearing,int16_t target_bearing,uint16_t wp_dist,float alt_error,float aspd_error,float xtrack_error) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[26]; |
| _mav_put_float(buf, 0, nav_roll); |
| _mav_put_float(buf, 4, nav_pitch); |
| _mav_put_int16_t(buf, 8, nav_bearing); |
| _mav_put_int16_t(buf, 10, target_bearing); |
| _mav_put_uint16_t(buf, 12, wp_dist); |
| _mav_put_float(buf, 14, alt_error); |
| _mav_put_float(buf, 18, aspd_error); |
| _mav_put_float(buf, 22, xtrack_error); |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26); |
| #else |
| mavlink_nav_controller_output_t packet; |
| packet.nav_roll = nav_roll; |
| packet.nav_pitch = nav_pitch; |
| packet.nav_bearing = nav_bearing; |
| packet.target_bearing = target_bearing; |
| packet.wp_dist = wp_dist; |
| packet.alt_error = alt_error; |
| packet.aspd_error = aspd_error; |
| packet.xtrack_error = xtrack_error; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; |
| return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26); |
| } |
| |
| /** |
| * @brief Encode a nav_controller_output struct into a message |
| * |
| * @param system_id ID of this system |
| * @param component_id ID of this component (e.g. 200 for IMU) |
| * @param msg The MAVLink message to compress the data into |
| * @param nav_controller_output C-struct to read the message contents from |
| */ |
| static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output) |
| { |
| return mavlink_msg_nav_controller_output_pack(system_id, component_id, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error); |
| } |
| |
| /** |
| * @brief Send a nav_controller_output message |
| * @param chan MAVLink channel to send the message |
| * |
| * @param nav_roll Current desired roll in degrees |
| * @param nav_pitch Current desired pitch in degrees |
| * @param nav_bearing Current desired heading in degrees |
| * @param target_bearing Bearing to current waypoint/target in degrees |
| * @param wp_dist Distance to active waypoint in meters |
| * @param alt_error Current altitude error in meters |
| * @param aspd_error Current airspeed error in meters/second |
| * @param xtrack_error Current crosstrack error on x-y plane in meters |
| */ |
| #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
| |
| static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[26]; |
| _mav_put_float(buf, 0, nav_roll); |
| _mav_put_float(buf, 4, nav_pitch); |
| _mav_put_int16_t(buf, 8, nav_bearing); |
| _mav_put_int16_t(buf, 10, target_bearing); |
| _mav_put_uint16_t(buf, 12, wp_dist); |
| _mav_put_float(buf, 14, alt_error); |
| _mav_put_float(buf, 18, aspd_error); |
| _mav_put_float(buf, 22, xtrack_error); |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, 26); |
| #else |
| mavlink_nav_controller_output_t packet; |
| packet.nav_roll = nav_roll; |
| packet.nav_pitch = nav_pitch; |
| packet.nav_bearing = nav_bearing; |
| packet.target_bearing = target_bearing; |
| packet.wp_dist = wp_dist; |
| packet.alt_error = alt_error; |
| packet.aspd_error = aspd_error; |
| packet.xtrack_error = xtrack_error; |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)&packet, 26); |
| #endif |
| } |
| |
| #endif |
| |
| // MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING |
| |
| |
| /** |
| * @brief Get field nav_roll from nav_controller_output message |
| * |
| * @return Current desired roll in degrees |
| */ |
| static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 0); |
| } |
| |
| /** |
| * @brief Get field nav_pitch from nav_controller_output message |
| * |
| * @return Current desired pitch in degrees |
| */ |
| static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 4); |
| } |
| |
| /** |
| * @brief Get field nav_bearing from nav_controller_output message |
| * |
| * @return Current desired heading in degrees |
| */ |
| static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_int16_t(msg, 8); |
| } |
| |
| /** |
| * @brief Get field target_bearing from nav_controller_output message |
| * |
| * @return Bearing to current waypoint/target in degrees |
| */ |
| static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_int16_t(msg, 10); |
| } |
| |
| /** |
| * @brief Get field wp_dist from nav_controller_output message |
| * |
| * @return Distance to active waypoint in meters |
| */ |
| static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint16_t(msg, 12); |
| } |
| |
| /** |
| * @brief Get field alt_error from nav_controller_output message |
| * |
| * @return Current altitude error in meters |
| */ |
| static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 14); |
| } |
| |
| /** |
| * @brief Get field aspd_error from nav_controller_output message |
| * |
| * @return Current airspeed error in meters/second |
| */ |
| static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 18); |
| } |
| |
| /** |
| * @brief Get field xtrack_error from nav_controller_output message |
| * |
| * @return Current crosstrack error on x-y plane in meters |
| */ |
| static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 22); |
| } |
| |
| /** |
| * @brief Decode a nav_controller_output message into a struct |
| * |
| * @param msg The message to decode |
| * @param nav_controller_output C-struct to decode the message contents into |
| */ |
| static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t* msg, mavlink_nav_controller_output_t* nav_controller_output) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP |
| nav_controller_output->nav_roll = mavlink_msg_nav_controller_output_get_nav_roll(msg); |
| nav_controller_output->nav_pitch = mavlink_msg_nav_controller_output_get_nav_pitch(msg); |
| nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg); |
| nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg); |
| nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg); |
| nav_controller_output->alt_error = mavlink_msg_nav_controller_output_get_alt_error(msg); |
| nav_controller_output->aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(msg); |
| nav_controller_output->xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(msg); |
| #else |
| memcpy(nav_controller_output, _MAV_PAYLOAD(msg), 26); |
| #endif |
| } |