Subversion Repositories Projects

Rev

Details | Last modification | View Log | RSS feed

Rev Author Line No. Line
1702 - 1 
// MESSAGE SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST PACKING
2 
 
3 
#define MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST 61
4 
 
5 
typedef struct __mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t
6 
{
7 
 int16_t roll[6]; ///< Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5
8 
 int16_t pitch[6]; ///< Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5
9 
 int16_t yaw[6]; ///< Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5
10 
 uint16_t thrust[6]; ///< Collective thrust, scaled to uint16 for 6 quadrotors: 0..5
11 
 uint8_t target_systems[6]; ///< System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs
12 
} mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t;
13 
 
14 
#define MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN 54
15 
#define MAVLINK_MSG_ID_61_LEN 54
16 
 
17 
#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_ROLL_LEN 6
18 
#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_PITCH_LEN 6
19 
#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_YAW_LEN 6
20 
#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_THRUST_LEN 6
21 
#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_TARGET_SYSTEMS_LEN 6
22 
 
23 
#define MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST { \
24 
        "SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST", \
25 
        5, \
26 
        {  { "roll", NULL, MAVLINK_TYPE_INT16_T, 6, 0, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, roll) }, \
27 
         { "pitch", NULL, MAVLINK_TYPE_INT16_T, 6, 12, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, pitch) }, \
28 
         { "yaw", NULL, MAVLINK_TYPE_INT16_T, 6, 24, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, yaw) }, \
29 
         { "thrust", NULL, MAVLINK_TYPE_UINT16_T, 6, 36, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, thrust) }, \
30 
         { "target_systems", NULL, MAVLINK_TYPE_UINT8_T, 6, 48, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, target_systems) }, \
31 
         } \
32 
}
33 
 
34 
 
35 
/**
36 
 * @brief Pack a set_quad_swarm_roll_pitch_yaw_thrust message
37 
 * @param system_id ID of this system
38 
 * @param component_id ID of this component (e.g. 200 for IMU)
39 
 * @param msg The MAVLink message to compress the data into
40 
 *
41 
 * @param target_systems System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs
42 
 * @param roll Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5
43 
 * @param pitch Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5
44 
 * @param yaw Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5
45 
 * @param thrust Collective thrust, scaled to uint16 for 6 quadrotors: 0..5
46 
 * @return length of the message in bytes (excluding serial stream start sign)
47 
 */
48 
static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
49 
                                                       const uint8_t *target_systems, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust)
50 
{
51 
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
52 
        char buf[54];
53 
 
54 
        _mav_put_int16_t_array(buf, 0, roll, 6);
55 
        _mav_put_int16_t_array(buf, 12, pitch, 6);
56 
        _mav_put_int16_t_array(buf, 24, yaw, 6);
57 
        _mav_put_uint16_t_array(buf, 36, thrust, 6);
58 
        _mav_put_uint8_t_array(buf, 48, target_systems, 6);
59 
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 54);
60 
#else
61 
        mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet;
62 
 
63 
        mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*6);
64 
        mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*6);
65 
        mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*6);
66 
        mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*6);
67 
        mav_array_memcpy(packet.target_systems, target_systems, sizeof(uint8_t)*6);
68 
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 54);
69 
#endif
70 
 
71 
        msg->msgid = MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST;
72 
        return mavlink_finalize_message(msg, system_id, component_id, 54, 200);
73 
}
74 
 
75 
/**
76 
 * @brief Pack a set_quad_swarm_roll_pitch_yaw_thrust message on a channel
77 
 * @param system_id ID of this system
78 
 * @param component_id ID of this component (e.g. 200 for IMU)
79 
 * @param chan The MAVLink channel this message was sent over
80 
 * @param msg The MAVLink message to compress the data into
81 
 * @param target_systems System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs
82 
 * @param roll Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5
83 
 * @param pitch Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5
84 
 * @param yaw Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5
85 
 * @param thrust Collective thrust, scaled to uint16 for 6 quadrotors: 0..5
86 
 * @return length of the message in bytes (excluding serial stream start sign)
87 
 */
88 
static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
89 
                                                           mavlink_message_t* msg,
90 
                                                           const uint8_t *target_systems,const int16_t *roll,const int16_t *pitch,const int16_t *yaw,const uint16_t *thrust)
91 
{
92 
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
93 
        char buf[54];
94 
 
95 
        _mav_put_int16_t_array(buf, 0, roll, 6);
96 
        _mav_put_int16_t_array(buf, 12, pitch, 6);
97 
        _mav_put_int16_t_array(buf, 24, yaw, 6);
98 
        _mav_put_uint16_t_array(buf, 36, thrust, 6);
99 
        _mav_put_uint8_t_array(buf, 48, target_systems, 6);
100 
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 54);
101 
#else
102 
        mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet;
103 
 
104 
        mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*6);
105 
        mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*6);
106 
        mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*6);
107 
        mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*6);
108 
        mav_array_memcpy(packet.target_systems, target_systems, sizeof(uint8_t)*6);
109 
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 54);
110 
#endif
111 
 
112 
        msg->msgid = MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST;
113 
        return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 54, 200);
114 
}
115 
 
116 
/**
117 
 * @brief Encode a set_quad_swarm_roll_pitch_yaw_thrust struct into a message
118 
 *
119 
 * @param system_id ID of this system
120 
 * @param component_id ID of this component (e.g. 200 for IMU)
121 
 * @param msg The MAVLink message to compress the data into
122 
 * @param set_quad_swarm_roll_pitch_yaw_thrust C-struct to read the message contents from
123 
 */
124 
static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t* set_quad_swarm_roll_pitch_yaw_thrust)
125 
{
126 
        return mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack(system_id, component_id, msg, set_quad_swarm_roll_pitch_yaw_thrust->target_systems, set_quad_swarm_roll_pitch_yaw_thrust->roll, set_quad_swarm_roll_pitch_yaw_thrust->pitch, set_quad_swarm_roll_pitch_yaw_thrust->yaw, set_quad_swarm_roll_pitch_yaw_thrust->thrust);
127 
}
128 
 
129 
/**
130 
 * @brief Send a set_quad_swarm_roll_pitch_yaw_thrust message
131 
 * @param chan MAVLink channel to send the message
132 
 *
133 
 * @param target_systems System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs
134 
 * @param roll Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5
135 
 * @param pitch Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5
136 
 * @param yaw Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5
137 
 * @param thrust Collective thrust, scaled to uint16 for 6 quadrotors: 0..5
138 
 */
139 
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
140 
 
141 
static inline void mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_send(mavlink_channel_t chan, const uint8_t *target_systems, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust)
142 
{
143 
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
144 
        char buf[54];
145 
 
146 
        _mav_put_int16_t_array(buf, 0, roll, 6);
147 
        _mav_put_int16_t_array(buf, 12, pitch, 6);
148 
        _mav_put_int16_t_array(buf, 24, yaw, 6);
149 
        _mav_put_uint16_t_array(buf, 36, thrust, 6);
150 
        _mav_put_uint8_t_array(buf, 48, target_systems, 6);
151 
        _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, buf, 54, 200);
152 
#else
153 
        mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet;
154 
 
155 
        mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*6);
156 
        mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*6);
157 
        mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*6);
158 
        mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*6);
159 
        mav_array_memcpy(packet.target_systems, target_systems, sizeof(uint8_t)*6);
160 
        _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, (const char *)&packet, 54, 200);
161 
#endif
162 
}
163 
 
164 
#endif
165 
 
166 
// MESSAGE SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST UNPACKING
167 
 
168 
 
169 
/**
170 
 * @brief Get field target_systems from set_quad_swarm_roll_pitch_yaw_thrust message
171 
 *
172 
 * @return System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs
173 
 */
174 
static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_target_systems(const mavlink_message_t* msg, uint8_t *target_systems)
175 
{
176 
        return _MAV_RETURN_uint8_t_array(msg, target_systems, 6,  48);
177 
}
178 
 
179 
/**
180 
 * @brief Get field roll from set_quad_swarm_roll_pitch_yaw_thrust message
181 
 *
182 
 * @return Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5
183 
 */
184 
static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_roll(const mavlink_message_t* msg, int16_t *roll)
185 
{
186 
        return _MAV_RETURN_int16_t_array(msg, roll, 6,  0);
187 
}
188 
 
189 
/**
190 
 * @brief Get field pitch from set_quad_swarm_roll_pitch_yaw_thrust message
191 
 *
192 
 * @return Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5
193 
 */
194 
static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_pitch(const mavlink_message_t* msg, int16_t *pitch)
195 
{
196 
        return _MAV_RETURN_int16_t_array(msg, pitch, 6,  12);
197 
}
198 
 
199 
/**
200 
 * @brief Get field yaw from set_quad_swarm_roll_pitch_yaw_thrust message
201 
 *
202 
 * @return Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5
203 
 */
204 
static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_yaw(const mavlink_message_t* msg, int16_t *yaw)
205 
{
206 
        return _MAV_RETURN_int16_t_array(msg, yaw, 6,  24);
207 
}
208 
 
209 
/**
210 
 * @brief Get field thrust from set_quad_swarm_roll_pitch_yaw_thrust message
211 
 *
212 
 * @return Collective thrust, scaled to uint16 for 6 quadrotors: 0..5
213 
 */
214 
static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_thrust(const mavlink_message_t* msg, uint16_t *thrust)
215 
{
216 
        return _MAV_RETURN_uint16_t_array(msg, thrust, 6,  36);
217 
}
218 
 
219 
/**
220 
 * @brief Decode a set_quad_swarm_roll_pitch_yaw_thrust message into a struct
221 
 *
222 
 * @param msg The message to decode
223 
 * @param set_quad_swarm_roll_pitch_yaw_thrust C-struct to decode the message contents into
224 
 */
225 
static inline void mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(const mavlink_message_t* msg, mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t* set_quad_swarm_roll_pitch_yaw_thrust)
226 
{
227 
#if MAVLINK_NEED_BYTE_SWAP
228 
        mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_roll(msg, set_quad_swarm_roll_pitch_yaw_thrust->roll);
229 
        mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_pitch(msg, set_quad_swarm_roll_pitch_yaw_thrust->pitch);
230 
        mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_yaw(msg, set_quad_swarm_roll_pitch_yaw_thrust->yaw);
231 
        mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_thrust(msg, set_quad_swarm_roll_pitch_yaw_thrust->thrust);
232 
        mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_target_systems(msg, set_quad_swarm_roll_pitch_yaw_thrust->target_systems);
233 
#else
234 
        memcpy(set_quad_swarm_roll_pitch_yaw_thrust, _MAV_PAYLOAD(msg), 54);
235 
#endif
236 
}