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Rev | Author | Line No. | Line |
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1702 | - | 1 | // MESSAGE CONTROL_STATUS PACKING |
2 | |||
3 | #define MAVLINK_MSG_ID_CONTROL_STATUS 52 |
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4 | |||
5 | typedef struct __mavlink_control_status_t |
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6 | { |
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7 | uint8_t position_fix; ///< Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix |
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8 | uint8_t vision_fix; ///< Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix |
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9 | uint8_t gps_fix; ///< GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix |
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10 | uint8_t ahrs_health; ///< Attitude estimation health: 0: poor, 255: excellent |
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11 | uint8_t control_att; ///< 0: Attitude control disabled, 1: enabled |
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12 | uint8_t control_pos_xy; ///< 0: X, Y position control disabled, 1: enabled |
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13 | uint8_t control_pos_z; ///< 0: Z position control disabled, 1: enabled |
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14 | uint8_t control_pos_yaw; ///< 0: Yaw angle control disabled, 1: enabled |
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15 | } mavlink_control_status_t; |
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16 | |||
17 | #define MAVLINK_MSG_ID_CONTROL_STATUS_LEN 8 |
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18 | #define MAVLINK_MSG_ID_52_LEN 8 |
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19 | |||
20 | |||
21 | |||
22 | #define MAVLINK_MESSAGE_INFO_CONTROL_STATUS { \ |
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23 | "CONTROL_STATUS", \ |
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24 | 8, \ |
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25 | { { "position_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_control_status_t, position_fix) }, \ |
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26 | { "vision_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_control_status_t, vision_fix) }, \ |
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27 | { "gps_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_control_status_t, gps_fix) }, \ |
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28 | { "ahrs_health", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_control_status_t, ahrs_health) }, \ |
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29 | { "control_att", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_control_status_t, control_att) }, \ |
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30 | { "control_pos_xy", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_control_status_t, control_pos_xy) }, \ |
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31 | { "control_pos_z", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_control_status_t, control_pos_z) }, \ |
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32 | { "control_pos_yaw", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_control_status_t, control_pos_yaw) }, \ |
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33 | } \ |
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34 | } |
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35 | |||
36 | |||
37 | /** |
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38 | * @brief Pack a control_status message |
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39 | * @param system_id ID of this system |
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40 | * @param component_id ID of this component (e.g. 200 for IMU) |
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41 | * @param msg The MAVLink message to compress the data into |
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42 | * |
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43 | * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix |
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44 | * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix |
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45 | * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix |
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46 | * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent |
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47 | * @param control_att 0: Attitude control disabled, 1: enabled |
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48 | * @param control_pos_xy 0: X, Y position control disabled, 1: enabled |
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49 | * @param control_pos_z 0: Z position control disabled, 1: enabled |
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50 | * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled |
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51 | * @return length of the message in bytes (excluding serial stream start sign) |
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52 | */ |
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53 | static inline uint16_t mavlink_msg_control_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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54 | uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw) |
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55 | { |
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56 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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57 | char buf[8]; |
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58 | _mav_put_uint8_t(buf, 0, position_fix); |
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59 | _mav_put_uint8_t(buf, 1, vision_fix); |
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60 | _mav_put_uint8_t(buf, 2, gps_fix); |
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61 | _mav_put_uint8_t(buf, 3, ahrs_health); |
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62 | _mav_put_uint8_t(buf, 4, control_att); |
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63 | _mav_put_uint8_t(buf, 5, control_pos_xy); |
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64 | _mav_put_uint8_t(buf, 6, control_pos_z); |
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65 | _mav_put_uint8_t(buf, 7, control_pos_yaw); |
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66 | |||
67 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8); |
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68 | #else |
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69 | mavlink_control_status_t packet; |
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70 | packet.position_fix = position_fix; |
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71 | packet.vision_fix = vision_fix; |
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72 | packet.gps_fix = gps_fix; |
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73 | packet.ahrs_health = ahrs_health; |
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74 | packet.control_att = control_att; |
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75 | packet.control_pos_xy = control_pos_xy; |
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76 | packet.control_pos_z = control_pos_z; |
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77 | packet.control_pos_yaw = control_pos_yaw; |
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78 | |||
79 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8); |
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80 | #endif |
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81 | |||
82 | msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS; |
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83 | return mavlink_finalize_message(msg, system_id, component_id, 8); |
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84 | } |
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85 | |||
86 | /** |
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87 | * @brief Pack a control_status message on a channel |
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88 | * @param system_id ID of this system |
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89 | * @param component_id ID of this component (e.g. 200 for IMU) |
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90 | * @param chan The MAVLink channel this message was sent over |
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91 | * @param msg The MAVLink message to compress the data into |
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92 | * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix |
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93 | * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix |
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94 | * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix |
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95 | * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent |
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96 | * @param control_att 0: Attitude control disabled, 1: enabled |
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97 | * @param control_pos_xy 0: X, Y position control disabled, 1: enabled |
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98 | * @param control_pos_z 0: Z position control disabled, 1: enabled |
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99 | * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled |
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100 | * @return length of the message in bytes (excluding serial stream start sign) |
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101 | */ |
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102 | static inline uint16_t mavlink_msg_control_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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103 | mavlink_message_t* msg, |
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104 | uint8_t position_fix,uint8_t vision_fix,uint8_t gps_fix,uint8_t ahrs_health,uint8_t control_att,uint8_t control_pos_xy,uint8_t control_pos_z,uint8_t control_pos_yaw) |
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105 | { |
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106 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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107 | char buf[8]; |
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108 | _mav_put_uint8_t(buf, 0, position_fix); |
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109 | _mav_put_uint8_t(buf, 1, vision_fix); |
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110 | _mav_put_uint8_t(buf, 2, gps_fix); |
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111 | _mav_put_uint8_t(buf, 3, ahrs_health); |
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112 | _mav_put_uint8_t(buf, 4, control_att); |
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113 | _mav_put_uint8_t(buf, 5, control_pos_xy); |
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114 | _mav_put_uint8_t(buf, 6, control_pos_z); |
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115 | _mav_put_uint8_t(buf, 7, control_pos_yaw); |
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116 | |||
117 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8); |
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118 | #else |
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119 | mavlink_control_status_t packet; |
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120 | packet.position_fix = position_fix; |
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121 | packet.vision_fix = vision_fix; |
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122 | packet.gps_fix = gps_fix; |
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123 | packet.ahrs_health = ahrs_health; |
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124 | packet.control_att = control_att; |
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125 | packet.control_pos_xy = control_pos_xy; |
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126 | packet.control_pos_z = control_pos_z; |
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127 | packet.control_pos_yaw = control_pos_yaw; |
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128 | |||
129 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8); |
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130 | #endif |
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131 | |||
132 | msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS; |
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133 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8); |
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134 | } |
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135 | |||
136 | /** |
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137 | * @brief Encode a control_status struct into a message |
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138 | * |
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139 | * @param system_id ID of this system |
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140 | * @param component_id ID of this component (e.g. 200 for IMU) |
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141 | * @param msg The MAVLink message to compress the data into |
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142 | * @param control_status C-struct to read the message contents from |
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143 | */ |
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144 | static inline uint16_t mavlink_msg_control_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_status_t* control_status) |
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145 | { |
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146 | return mavlink_msg_control_status_pack(system_id, component_id, msg, control_status->position_fix, control_status->vision_fix, control_status->gps_fix, control_status->ahrs_health, control_status->control_att, control_status->control_pos_xy, control_status->control_pos_z, control_status->control_pos_yaw); |
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147 | } |
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148 | |||
149 | /** |
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150 | * @brief Send a control_status message |
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151 | * @param chan MAVLink channel to send the message |
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152 | * |
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153 | * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix |
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154 | * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix |
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155 | * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix |
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156 | * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent |
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157 | * @param control_att 0: Attitude control disabled, 1: enabled |
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158 | * @param control_pos_xy 0: X, Y position control disabled, 1: enabled |
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159 | * @param control_pos_z 0: Z position control disabled, 1: enabled |
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160 | * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled |
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161 | */ |
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162 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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163 | |||
164 | static inline void mavlink_msg_control_status_send(mavlink_channel_t chan, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw) |
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165 | { |
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166 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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167 | char buf[8]; |
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168 | _mav_put_uint8_t(buf, 0, position_fix); |
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169 | _mav_put_uint8_t(buf, 1, vision_fix); |
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170 | _mav_put_uint8_t(buf, 2, gps_fix); |
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171 | _mav_put_uint8_t(buf, 3, ahrs_health); |
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172 | _mav_put_uint8_t(buf, 4, control_att); |
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173 | _mav_put_uint8_t(buf, 5, control_pos_xy); |
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174 | _mav_put_uint8_t(buf, 6, control_pos_z); |
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175 | _mav_put_uint8_t(buf, 7, control_pos_yaw); |
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176 | |||
177 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, buf, 8); |
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178 | #else |
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179 | mavlink_control_status_t packet; |
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180 | packet.position_fix = position_fix; |
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181 | packet.vision_fix = vision_fix; |
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182 | packet.gps_fix = gps_fix; |
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183 | packet.ahrs_health = ahrs_health; |
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184 | packet.control_att = control_att; |
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185 | packet.control_pos_xy = control_pos_xy; |
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186 | packet.control_pos_z = control_pos_z; |
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187 | packet.control_pos_yaw = control_pos_yaw; |
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188 | |||
189 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, (const char *)&packet, 8); |
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190 | #endif |
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191 | } |
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192 | |||
193 | #endif |
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194 | |||
195 | // MESSAGE CONTROL_STATUS UNPACKING |
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196 | |||
197 | |||
198 | /** |
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199 | * @brief Get field position_fix from control_status message |
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200 | * |
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201 | * @return Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix |
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202 | */ |
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203 | static inline uint8_t mavlink_msg_control_status_get_position_fix(const mavlink_message_t* msg) |
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204 | { |
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205 | return _MAV_RETURN_uint8_t(msg, 0); |
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206 | } |
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207 | |||
208 | /** |
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209 | * @brief Get field vision_fix from control_status message |
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210 | * |
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211 | * @return Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix |
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212 | */ |
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213 | static inline uint8_t mavlink_msg_control_status_get_vision_fix(const mavlink_message_t* msg) |
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214 | { |
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215 | return _MAV_RETURN_uint8_t(msg, 1); |
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216 | } |
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217 | |||
218 | /** |
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219 | * @brief Get field gps_fix from control_status message |
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220 | * |
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221 | * @return GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix |
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222 | */ |
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223 | static inline uint8_t mavlink_msg_control_status_get_gps_fix(const mavlink_message_t* msg) |
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224 | { |
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225 | return _MAV_RETURN_uint8_t(msg, 2); |
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226 | } |
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227 | |||
228 | /** |
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229 | * @brief Get field ahrs_health from control_status message |
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230 | * |
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231 | * @return Attitude estimation health: 0: poor, 255: excellent |
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232 | */ |
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233 | static inline uint8_t mavlink_msg_control_status_get_ahrs_health(const mavlink_message_t* msg) |
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234 | { |
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235 | return _MAV_RETURN_uint8_t(msg, 3); |
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236 | } |
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237 | |||
238 | /** |
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239 | * @brief Get field control_att from control_status message |
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240 | * |
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241 | * @return 0: Attitude control disabled, 1: enabled |
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242 | */ |
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243 | static inline uint8_t mavlink_msg_control_status_get_control_att(const mavlink_message_t* msg) |
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244 | { |
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245 | return _MAV_RETURN_uint8_t(msg, 4); |
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246 | } |
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247 | |||
248 | /** |
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249 | * @brief Get field control_pos_xy from control_status message |
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250 | * |
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251 | * @return 0: X, Y position control disabled, 1: enabled |
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252 | */ |
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253 | static inline uint8_t mavlink_msg_control_status_get_control_pos_xy(const mavlink_message_t* msg) |
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254 | { |
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255 | return _MAV_RETURN_uint8_t(msg, 5); |
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256 | } |
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257 | |||
258 | /** |
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259 | * @brief Get field control_pos_z from control_status message |
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260 | * |
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261 | * @return 0: Z position control disabled, 1: enabled |
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262 | */ |
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263 | static inline uint8_t mavlink_msg_control_status_get_control_pos_z(const mavlink_message_t* msg) |
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264 | { |
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265 | return _MAV_RETURN_uint8_t(msg, 6); |
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266 | } |
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267 | |||
268 | /** |
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269 | * @brief Get field control_pos_yaw from control_status message |
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270 | * |
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271 | * @return 0: Yaw angle control disabled, 1: enabled |
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272 | */ |
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273 | static inline uint8_t mavlink_msg_control_status_get_control_pos_yaw(const mavlink_message_t* msg) |
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274 | { |
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275 | return _MAV_RETURN_uint8_t(msg, 7); |
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276 | } |
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277 | |||
278 | /** |
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279 | * @brief Decode a control_status message into a struct |
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280 | * |
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281 | * @param msg The message to decode |
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282 | * @param control_status C-struct to decode the message contents into |
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283 | */ |
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284 | static inline void mavlink_msg_control_status_decode(const mavlink_message_t* msg, mavlink_control_status_t* control_status) |
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285 | { |
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286 | #if MAVLINK_NEED_BYTE_SWAP |
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287 | control_status->position_fix = mavlink_msg_control_status_get_position_fix(msg); |
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288 | control_status->vision_fix = mavlink_msg_control_status_get_vision_fix(msg); |
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289 | control_status->gps_fix = mavlink_msg_control_status_get_gps_fix(msg); |
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290 | control_status->ahrs_health = mavlink_msg_control_status_get_ahrs_health(msg); |
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291 | control_status->control_att = mavlink_msg_control_status_get_control_att(msg); |
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292 | control_status->control_pos_xy = mavlink_msg_control_status_get_control_pos_xy(msg); |
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293 | control_status->control_pos_z = mavlink_msg_control_status_get_control_pos_z(msg); |
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294 | control_status->control_pos_yaw = mavlink_msg_control_status_get_control_pos_yaw(msg); |
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295 | #else |
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296 | memcpy(control_status, _MAV_PAYLOAD(msg), 8); |
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297 | #endif |
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298 | } |