| 0,0 → 1,298 |
|---|
| // MESSAGE COMMAND PACKING |
| |
| #define MAVLINK_MSG_ID_COMMAND 75 |
| |
| typedef struct __mavlink_command_t |
| { |
| uint8_t target_system; ///< System which should execute the command |
| uint8_t target_component; ///< Component which should execute the command, 0 for all components |
| uint8_t command; ///< Command ID, as defined by MAV_CMD enum. |
| uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) |
| float param1; ///< Parameter 1, as defined by MAV_CMD enum. |
| float param2; ///< Parameter 2, as defined by MAV_CMD enum. |
| float param3; ///< Parameter 3, as defined by MAV_CMD enum. |
| float param4; ///< Parameter 4, as defined by MAV_CMD enum. |
| } mavlink_command_t; |
| |
| #define MAVLINK_MSG_ID_COMMAND_LEN 20 |
| #define MAVLINK_MSG_ID_75_LEN 20 |
| |
| |
| |
| #define MAVLINK_MESSAGE_INFO_COMMAND { \ |
| "COMMAND", \ |
| 8, \ |
| { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_command_t, target_system) }, \ |
| { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_command_t, target_component) }, \ |
| { "command", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_t, command) }, \ |
| { "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_command_t, confirmation) }, \ |
| { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_t, param1) }, \ |
| { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_t, param2) }, \ |
| { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_t, param3) }, \ |
| { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_t, param4) }, \ |
| } \ |
| } |
| |
| |
| /** |
| * @brief Pack a command message |
| * @param system_id ID of this system |
| * @param component_id ID of this component (e.g. 200 for IMU) |
| * @param msg The MAVLink message to compress the data into |
| * |
| * @param target_system System which should execute the command |
| * @param target_component Component which should execute the command, 0 for all components |
| * @param command Command ID, as defined by MAV_CMD enum. |
| * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) |
| * @param param1 Parameter 1, as defined by MAV_CMD enum. |
| * @param param2 Parameter 2, as defined by MAV_CMD enum. |
| * @param param3 Parameter 3, as defined by MAV_CMD enum. |
| * @param param4 Parameter 4, as defined by MAV_CMD enum. |
| * @return length of the message in bytes (excluding serial stream start sign) |
| */ |
| static inline uint16_t mavlink_msg_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
| uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[20]; |
| _mav_put_uint8_t(buf, 0, target_system); |
| _mav_put_uint8_t(buf, 1, target_component); |
| _mav_put_uint8_t(buf, 2, command); |
| _mav_put_uint8_t(buf, 3, confirmation); |
| _mav_put_float(buf, 4, param1); |
| _mav_put_float(buf, 8, param2); |
| _mav_put_float(buf, 12, param3); |
| _mav_put_float(buf, 16, param4); |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); |
| #else |
| mavlink_command_t packet; |
| packet.target_system = target_system; |
| packet.target_component = target_component; |
| packet.command = command; |
| packet.confirmation = confirmation; |
| packet.param1 = param1; |
| packet.param2 = param2; |
| packet.param3 = param3; |
| packet.param4 = param4; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_COMMAND; |
| return mavlink_finalize_message(msg, system_id, component_id, 20); |
| } |
| |
| /** |
| * @brief Pack a command message on a channel |
| * @param system_id ID of this system |
| * @param component_id ID of this component (e.g. 200 for IMU) |
| * @param chan The MAVLink channel this message was sent over |
| * @param msg The MAVLink message to compress the data into |
| * @param target_system System which should execute the command |
| * @param target_component Component which should execute the command, 0 for all components |
| * @param command Command ID, as defined by MAV_CMD enum. |
| * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) |
| * @param param1 Parameter 1, as defined by MAV_CMD enum. |
| * @param param2 Parameter 2, as defined by MAV_CMD enum. |
| * @param param3 Parameter 3, as defined by MAV_CMD enum. |
| * @param param4 Parameter 4, as defined by MAV_CMD enum. |
| * @return length of the message in bytes (excluding serial stream start sign) |
| */ |
| static inline uint16_t mavlink_msg_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
| mavlink_message_t* msg, |
| uint8_t target_system,uint8_t target_component,uint8_t command,uint8_t confirmation,float param1,float param2,float param3,float param4) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[20]; |
| _mav_put_uint8_t(buf, 0, target_system); |
| _mav_put_uint8_t(buf, 1, target_component); |
| _mav_put_uint8_t(buf, 2, command); |
| _mav_put_uint8_t(buf, 3, confirmation); |
| _mav_put_float(buf, 4, param1); |
| _mav_put_float(buf, 8, param2); |
| _mav_put_float(buf, 12, param3); |
| _mav_put_float(buf, 16, param4); |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); |
| #else |
| mavlink_command_t packet; |
| packet.target_system = target_system; |
| packet.target_component = target_component; |
| packet.command = command; |
| packet.confirmation = confirmation; |
| packet.param1 = param1; |
| packet.param2 = param2; |
| packet.param3 = param3; |
| packet.param4 = param4; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_COMMAND; |
| return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20); |
| } |
| |
| /** |
| * @brief Encode a command struct into a message |
| * |
| * @param system_id ID of this system |
| * @param component_id ID of this component (e.g. 200 for IMU) |
| * @param msg The MAVLink message to compress the data into |
| * @param command C-struct to read the message contents from |
| */ |
| static inline uint16_t mavlink_msg_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_t* command) |
| { |
| return mavlink_msg_command_pack(system_id, component_id, msg, command->target_system, command->target_component, command->command, command->confirmation, command->param1, command->param2, command->param3, command->param4); |
| } |
| |
| /** |
| * @brief Send a command message |
| * @param chan MAVLink channel to send the message |
| * |
| * @param target_system System which should execute the command |
| * @param target_component Component which should execute the command, 0 for all components |
| * @param command Command ID, as defined by MAV_CMD enum. |
| * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) |
| * @param param1 Parameter 1, as defined by MAV_CMD enum. |
| * @param param2 Parameter 2, as defined by MAV_CMD enum. |
| * @param param3 Parameter 3, as defined by MAV_CMD enum. |
| * @param param4 Parameter 4, as defined by MAV_CMD enum. |
| */ |
| #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
| |
| static inline void mavlink_msg_command_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[20]; |
| _mav_put_uint8_t(buf, 0, target_system); |
| _mav_put_uint8_t(buf, 1, target_component); |
| _mav_put_uint8_t(buf, 2, command); |
| _mav_put_uint8_t(buf, 3, confirmation); |
| _mav_put_float(buf, 4, param1); |
| _mav_put_float(buf, 8, param2); |
| _mav_put_float(buf, 12, param3); |
| _mav_put_float(buf, 16, param4); |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, buf, 20); |
| #else |
| mavlink_command_t packet; |
| packet.target_system = target_system; |
| packet.target_component = target_component; |
| packet.command = command; |
| packet.confirmation = confirmation; |
| packet.param1 = param1; |
| packet.param2 = param2; |
| packet.param3 = param3; |
| packet.param4 = param4; |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, (const char *)&packet, 20); |
| #endif |
| } |
| |
| #endif |
| |
| // MESSAGE COMMAND UNPACKING |
| |
| |
| /** |
| * @brief Get field target_system from command message |
| * |
| * @return System which should execute the command |
| */ |
| static inline uint8_t mavlink_msg_command_get_target_system(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 0); |
| } |
| |
| /** |
| * @brief Get field target_component from command message |
| * |
| * @return Component which should execute the command, 0 for all components |
| */ |
| static inline uint8_t mavlink_msg_command_get_target_component(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 1); |
| } |
| |
| /** |
| * @brief Get field command from command message |
| * |
| * @return Command ID, as defined by MAV_CMD enum. |
| */ |
| static inline uint8_t mavlink_msg_command_get_command(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 2); |
| } |
| |
| /** |
| * @brief Get field confirmation from command message |
| * |
| * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) |
| */ |
| static inline uint8_t mavlink_msg_command_get_confirmation(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 3); |
| } |
| |
| /** |
| * @brief Get field param1 from command message |
| * |
| * @return Parameter 1, as defined by MAV_CMD enum. |
| */ |
| static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 4); |
| } |
| |
| /** |
| * @brief Get field param2 from command message |
| * |
| * @return Parameter 2, as defined by MAV_CMD enum. |
| */ |
| static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 8); |
| } |
| |
| /** |
| * @brief Get field param3 from command message |
| * |
| * @return Parameter 3, as defined by MAV_CMD enum. |
| */ |
| static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 12); |
| } |
| |
| /** |
| * @brief Get field param4 from command message |
| * |
| * @return Parameter 4, as defined by MAV_CMD enum. |
| */ |
| static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 16); |
| } |
| |
| /** |
| * @brief Decode a command message into a struct |
| * |
| * @param msg The message to decode |
| * @param command C-struct to decode the message contents into |
| */ |
| static inline void mavlink_msg_command_decode(const mavlink_message_t* msg, mavlink_command_t* command) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP |
| command->target_system = mavlink_msg_command_get_target_system(msg); |
| command->target_component = mavlink_msg_command_get_target_component(msg); |
| command->command = mavlink_msg_command_get_command(msg); |
| command->confirmation = mavlink_msg_command_get_confirmation(msg); |
| command->param1 = mavlink_msg_command_get_param1(msg); |
| command->param2 = mavlink_msg_command_get_param2(msg); |
| command->param3 = mavlink_msg_command_get_param3(msg); |
| command->param4 = mavlink_msg_command_get_param4(msg); |
| #else |
| memcpy(command, _MAV_PAYLOAD(msg), 20); |
| #endif |
| } |