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