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Rev | Author | Line No. | Line |
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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 | } |