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Rev | Author | Line No. | Line |
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1702 | - | 1 | // MESSAGE HIL_CONTROLS PACKING |
2 | |||
3 | #define MAVLINK_MSG_ID_HIL_CONTROLS 91 |
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4 | |||
5 | typedef struct __mavlink_hil_controls_t |
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6 | { |
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7 | uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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8 | float roll_ailerons; ///< Control output -1 .. 1 |
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9 | float pitch_elevator; ///< Control output -1 .. 1 |
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10 | float yaw_rudder; ///< Control output -1 .. 1 |
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11 | float throttle; ///< Throttle 0 .. 1 |
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12 | float aux1; ///< Aux 1, -1 .. 1 |
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13 | float aux2; ///< Aux 2, -1 .. 1 |
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14 | float aux3; ///< Aux 3, -1 .. 1 |
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15 | float aux4; ///< Aux 4, -1 .. 1 |
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16 | uint8_t mode; ///< System mode (MAV_MODE) |
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17 | uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE) |
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18 | } mavlink_hil_controls_t; |
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19 | |||
20 | #define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 42 |
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21 | #define MAVLINK_MSG_ID_91_LEN 42 |
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22 | |||
23 | |||
24 | |||
25 | #define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \ |
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26 | "HIL_CONTROLS", \ |
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27 | 11, \ |
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28 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_usec) }, \ |
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29 | { "roll_ailerons", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \ |
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30 | { "pitch_elevator", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \ |
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31 | { "yaw_rudder", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \ |
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32 | { "throttle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \ |
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33 | { "aux1", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_controls_t, aux1) }, \ |
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34 | { "aux2", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_controls_t, aux2) }, \ |
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35 | { "aux3", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_controls_t, aux3) }, \ |
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36 | { "aux4", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_controls_t, aux4) }, \ |
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37 | { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_hil_controls_t, mode) }, \ |
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38 | { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_hil_controls_t, nav_mode) }, \ |
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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 hil_controls 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_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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50 | * @param roll_ailerons Control output -1 .. 1 |
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51 | * @param pitch_elevator Control output -1 .. 1 |
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52 | * @param yaw_rudder Control output -1 .. 1 |
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53 | * @param throttle Throttle 0 .. 1 |
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54 | * @param aux1 Aux 1, -1 .. 1 |
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55 | * @param aux2 Aux 2, -1 .. 1 |
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56 | * @param aux3 Aux 3, -1 .. 1 |
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57 | * @param aux4 Aux 4, -1 .. 1 |
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58 | * @param mode System mode (MAV_MODE) |
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59 | * @param nav_mode Navigation mode (MAV_NAV_MODE) |
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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_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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63 | uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode) |
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64 | { |
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65 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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66 | char buf[42]; |
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67 | _mav_put_uint64_t(buf, 0, time_usec); |
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68 | _mav_put_float(buf, 8, roll_ailerons); |
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69 | _mav_put_float(buf, 12, pitch_elevator); |
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70 | _mav_put_float(buf, 16, yaw_rudder); |
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71 | _mav_put_float(buf, 20, throttle); |
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72 | _mav_put_float(buf, 24, aux1); |
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73 | _mav_put_float(buf, 28, aux2); |
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74 | _mav_put_float(buf, 32, aux3); |
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75 | _mav_put_float(buf, 36, aux4); |
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76 | _mav_put_uint8_t(buf, 40, mode); |
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77 | _mav_put_uint8_t(buf, 41, nav_mode); |
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78 | |||
79 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42); |
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80 | #else |
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81 | mavlink_hil_controls_t packet; |
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82 | packet.time_usec = time_usec; |
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83 | packet.roll_ailerons = roll_ailerons; |
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84 | packet.pitch_elevator = pitch_elevator; |
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85 | packet.yaw_rudder = yaw_rudder; |
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86 | packet.throttle = throttle; |
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87 | packet.aux1 = aux1; |
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88 | packet.aux2 = aux2; |
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89 | packet.aux3 = aux3; |
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90 | packet.aux4 = aux4; |
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91 | packet.mode = mode; |
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92 | packet.nav_mode = nav_mode; |
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93 | |||
94 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42); |
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95 | #endif |
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96 | |||
97 | msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; |
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98 | return mavlink_finalize_message(msg, system_id, component_id, 42, 63); |
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99 | } |
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100 | |||
101 | /** |
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102 | * @brief Pack a hil_controls 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_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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108 | * @param roll_ailerons Control output -1 .. 1 |
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109 | * @param pitch_elevator Control output -1 .. 1 |
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110 | * @param yaw_rudder Control output -1 .. 1 |
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111 | * @param throttle Throttle 0 .. 1 |
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112 | * @param aux1 Aux 1, -1 .. 1 |
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113 | * @param aux2 Aux 2, -1 .. 1 |
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114 | * @param aux3 Aux 3, -1 .. 1 |
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115 | * @param aux4 Aux 4, -1 .. 1 |
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116 | * @param mode System mode (MAV_MODE) |
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117 | * @param nav_mode Navigation mode (MAV_NAV_MODE) |
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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_hil_controls_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 | uint64_t time_usec,float roll_ailerons,float pitch_elevator,float yaw_rudder,float throttle,float aux1,float aux2,float aux3,float aux4,uint8_t mode,uint8_t nav_mode) |
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123 | { |
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124 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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125 | char buf[42]; |
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126 | _mav_put_uint64_t(buf, 0, time_usec); |
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127 | _mav_put_float(buf, 8, roll_ailerons); |
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128 | _mav_put_float(buf, 12, pitch_elevator); |
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129 | _mav_put_float(buf, 16, yaw_rudder); |
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130 | _mav_put_float(buf, 20, throttle); |
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131 | _mav_put_float(buf, 24, aux1); |
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132 | _mav_put_float(buf, 28, aux2); |
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133 | _mav_put_float(buf, 32, aux3); |
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134 | _mav_put_float(buf, 36, aux4); |
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135 | _mav_put_uint8_t(buf, 40, mode); |
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136 | _mav_put_uint8_t(buf, 41, nav_mode); |
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137 | |||
138 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42); |
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139 | #else |
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140 | mavlink_hil_controls_t packet; |
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141 | packet.time_usec = time_usec; |
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142 | packet.roll_ailerons = roll_ailerons; |
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143 | packet.pitch_elevator = pitch_elevator; |
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144 | packet.yaw_rudder = yaw_rudder; |
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145 | packet.throttle = throttle; |
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146 | packet.aux1 = aux1; |
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147 | packet.aux2 = aux2; |
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148 | packet.aux3 = aux3; |
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149 | packet.aux4 = aux4; |
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150 | packet.mode = mode; |
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151 | packet.nav_mode = nav_mode; |
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152 | |||
153 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42); |
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154 | #endif |
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155 | |||
156 | msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; |
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157 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 42, 63); |
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158 | } |
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159 | |||
160 | /** |
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161 | * @brief Encode a hil_controls 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 hil_controls C-struct to read the message contents from |
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167 | */ |
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168 | static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls) |
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169 | { |
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170 | return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode); |
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171 | } |
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172 | |||
173 | /** |
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174 | * @brief Send a hil_controls 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_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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178 | * @param roll_ailerons Control output -1 .. 1 |
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179 | * @param pitch_elevator Control output -1 .. 1 |
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180 | * @param yaw_rudder Control output -1 .. 1 |
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181 | * @param throttle Throttle 0 .. 1 |
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182 | * @param aux1 Aux 1, -1 .. 1 |
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183 | * @param aux2 Aux 2, -1 .. 1 |
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184 | * @param aux3 Aux 3, -1 .. 1 |
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185 | * @param aux4 Aux 4, -1 .. 1 |
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186 | * @param mode System mode (MAV_MODE) |
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187 | * @param nav_mode Navigation mode (MAV_NAV_MODE) |
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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_hil_controls_send(mavlink_channel_t chan, uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode) |
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192 | { |
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193 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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194 | char buf[42]; |
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195 | _mav_put_uint64_t(buf, 0, time_usec); |
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196 | _mav_put_float(buf, 8, roll_ailerons); |
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197 | _mav_put_float(buf, 12, pitch_elevator); |
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198 | _mav_put_float(buf, 16, yaw_rudder); |
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199 | _mav_put_float(buf, 20, throttle); |
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200 | _mav_put_float(buf, 24, aux1); |
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201 | _mav_put_float(buf, 28, aux2); |
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202 | _mav_put_float(buf, 32, aux3); |
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203 | _mav_put_float(buf, 36, aux4); |
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204 | _mav_put_uint8_t(buf, 40, mode); |
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205 | _mav_put_uint8_t(buf, 41, nav_mode); |
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206 | |||
207 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, 42, 63); |
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208 | #else |
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209 | mavlink_hil_controls_t packet; |
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210 | packet.time_usec = time_usec; |
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211 | packet.roll_ailerons = roll_ailerons; |
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212 | packet.pitch_elevator = pitch_elevator; |
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213 | packet.yaw_rudder = yaw_rudder; |
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214 | packet.throttle = throttle; |
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215 | packet.aux1 = aux1; |
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216 | packet.aux2 = aux2; |
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217 | packet.aux3 = aux3; |
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218 | packet.aux4 = aux4; |
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219 | packet.mode = mode; |
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220 | packet.nav_mode = nav_mode; |
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221 | |||
222 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, 42, 63); |
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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 HIL_CONTROLS UNPACKING |
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229 | |||
230 | |||
231 | /** |
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232 | * @brief Get field time_usec from hil_controls message |
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233 | * |
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234 | * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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235 | */ |
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236 | static inline uint64_t mavlink_msg_hil_controls_get_time_usec(const mavlink_message_t* msg) |
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237 | { |
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238 | return _MAV_RETURN_uint64_t(msg, 0); |
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239 | } |
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240 | |||
241 | /** |
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242 | * @brief Get field roll_ailerons from hil_controls message |
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243 | * |
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244 | * @return Control output -1 .. 1 |
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245 | */ |
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246 | static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg) |
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247 | { |
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248 | return _MAV_RETURN_float(msg, 8); |
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249 | } |
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250 | |||
251 | /** |
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252 | * @brief Get field pitch_elevator from hil_controls message |
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253 | * |
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254 | * @return Control output -1 .. 1 |
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255 | */ |
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256 | static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg) |
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257 | { |
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258 | return _MAV_RETURN_float(msg, 12); |
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259 | } |
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260 | |||
261 | /** |
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262 | * @brief Get field yaw_rudder from hil_controls message |
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263 | * |
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264 | * @return Control output -1 .. 1 |
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265 | */ |
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266 | static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg) |
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267 | { |
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268 | return _MAV_RETURN_float(msg, 16); |
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269 | } |
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270 | |||
271 | /** |
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272 | * @brief Get field throttle from hil_controls message |
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273 | * |
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274 | * @return Throttle 0 .. 1 |
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275 | */ |
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276 | static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg) |
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277 | { |
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278 | return _MAV_RETURN_float(msg, 20); |
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279 | } |
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280 | |||
281 | /** |
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282 | * @brief Get field aux1 from hil_controls message |
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283 | * |
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284 | * @return Aux 1, -1 .. 1 |
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285 | */ |
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286 | static inline float mavlink_msg_hil_controls_get_aux1(const mavlink_message_t* msg) |
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287 | { |
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288 | return _MAV_RETURN_float(msg, 24); |
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289 | } |
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290 | |||
291 | /** |
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292 | * @brief Get field aux2 from hil_controls message |
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293 | * |
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294 | * @return Aux 2, -1 .. 1 |
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295 | */ |
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296 | static inline float mavlink_msg_hil_controls_get_aux2(const mavlink_message_t* msg) |
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297 | { |
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298 | return _MAV_RETURN_float(msg, 28); |
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299 | } |
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300 | |||
301 | /** |
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302 | * @brief Get field aux3 from hil_controls message |
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303 | * |
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304 | * @return Aux 3, -1 .. 1 |
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305 | */ |
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306 | static inline float mavlink_msg_hil_controls_get_aux3(const mavlink_message_t* msg) |
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307 | { |
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308 | return _MAV_RETURN_float(msg, 32); |
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309 | } |
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310 | |||
311 | /** |
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312 | * @brief Get field aux4 from hil_controls message |
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313 | * |
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314 | * @return Aux 4, -1 .. 1 |
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315 | */ |
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316 | static inline float mavlink_msg_hil_controls_get_aux4(const mavlink_message_t* msg) |
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317 | { |
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318 | return _MAV_RETURN_float(msg, 36); |
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319 | } |
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320 | |||
321 | /** |
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322 | * @brief Get field mode from hil_controls message |
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323 | * |
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324 | * @return System mode (MAV_MODE) |
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325 | */ |
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326 | static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg) |
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327 | { |
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328 | return _MAV_RETURN_uint8_t(msg, 40); |
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329 | } |
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330 | |||
331 | /** |
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332 | * @brief Get field nav_mode from hil_controls message |
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333 | * |
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334 | * @return Navigation mode (MAV_NAV_MODE) |
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335 | */ |
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336 | static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg) |
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337 | { |
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338 | return _MAV_RETURN_uint8_t(msg, 41); |
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339 | } |
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340 | |||
341 | /** |
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342 | * @brief Decode a hil_controls 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 hil_controls C-struct to decode the message contents into |
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346 | */ |
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347 | static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls) |
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348 | { |
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349 | #if MAVLINK_NEED_BYTE_SWAP |
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350 | hil_controls->time_usec = mavlink_msg_hil_controls_get_time_usec(msg); |
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351 | hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg); |
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352 | hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg); |
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353 | hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg); |
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354 | hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg); |
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355 | hil_controls->aux1 = mavlink_msg_hil_controls_get_aux1(msg); |
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356 | hil_controls->aux2 = mavlink_msg_hil_controls_get_aux2(msg); |
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357 | hil_controls->aux3 = mavlink_msg_hil_controls_get_aux3(msg); |
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358 | hil_controls->aux4 = mavlink_msg_hil_controls_get_aux4(msg); |
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359 | hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg); |
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360 | hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg); |
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361 | #else |
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362 | memcpy(hil_controls, _MAV_PAYLOAD(msg), 42); |
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363 | #endif |
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364 | } |