0,0 → 1,232 |
// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT PACKING |
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#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT 58 |
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typedef struct __mavlink_roll_pitch_yaw_thrust_setpoint_t |
{ |
uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot |
float roll; ///< Desired roll angle in radians |
float pitch; ///< Desired pitch angle in radians |
float yaw; ///< Desired yaw angle in radians |
float thrust; ///< Collective thrust, normalized to 0 .. 1 |
} mavlink_roll_pitch_yaw_thrust_setpoint_t; |
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#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN 20 |
#define MAVLINK_MSG_ID_58_LEN 20 |
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#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT { \ |
"ROLL_PITCH_YAW_THRUST_SETPOINT", \ |
5, \ |
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, time_boot_ms) }, \ |
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, roll) }, \ |
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, pitch) }, \ |
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, yaw) }, \ |
{ "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, thrust) }, \ |
} \ |
} |
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/** |
* @brief Pack a roll_pitch_yaw_thrust_setpoint 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 time_boot_ms Timestamp in milliseconds since system boot |
* @param roll Desired roll angle in radians |
* @param pitch Desired pitch angle in radians |
* @param yaw Desired yaw angle in radians |
* @param thrust Collective thrust, normalized to 0 .. 1 |
* @return length of the message in bytes (excluding serial stream start sign) |
*/ |
static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust) |
{ |
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
char buf[20]; |
_mav_put_uint32_t(buf, 0, time_boot_ms); |
_mav_put_float(buf, 4, roll); |
_mav_put_float(buf, 8, pitch); |
_mav_put_float(buf, 12, yaw); |
_mav_put_float(buf, 16, thrust); |
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); |
#else |
mavlink_roll_pitch_yaw_thrust_setpoint_t packet; |
packet.time_boot_ms = time_boot_ms; |
packet.roll = roll; |
packet.pitch = pitch; |
packet.yaw = yaw; |
packet.thrust = thrust; |
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); |
#endif |
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msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT; |
return mavlink_finalize_message(msg, system_id, component_id, 20, 239); |
} |
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/** |
* @brief Pack a roll_pitch_yaw_thrust_setpoint 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 time_boot_ms Timestamp in milliseconds since system boot |
* @param roll Desired roll angle in radians |
* @param pitch Desired pitch angle in radians |
* @param yaw Desired yaw angle in radians |
* @param thrust Collective thrust, normalized to 0 .. 1 |
* @return length of the message in bytes (excluding serial stream start sign) |
*/ |
static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
mavlink_message_t* msg, |
uint32_t time_boot_ms,float roll,float pitch,float yaw,float thrust) |
{ |
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
char buf[20]; |
_mav_put_uint32_t(buf, 0, time_boot_ms); |
_mav_put_float(buf, 4, roll); |
_mav_put_float(buf, 8, pitch); |
_mav_put_float(buf, 12, yaw); |
_mav_put_float(buf, 16, thrust); |
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); |
#else |
mavlink_roll_pitch_yaw_thrust_setpoint_t packet; |
packet.time_boot_ms = time_boot_ms; |
packet.roll = roll; |
packet.pitch = pitch; |
packet.yaw = yaw; |
packet.thrust = thrust; |
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); |
#endif |
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msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT; |
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 239); |
} |
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/** |
* @brief Encode a roll_pitch_yaw_thrust_setpoint 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 roll_pitch_yaw_thrust_setpoint C-struct to read the message contents from |
*/ |
static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint) |
{ |
return mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_thrust_setpoint->time_boot_ms, roll_pitch_yaw_thrust_setpoint->roll, roll_pitch_yaw_thrust_setpoint->pitch, roll_pitch_yaw_thrust_setpoint->yaw, roll_pitch_yaw_thrust_setpoint->thrust); |
} |
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/** |
* @brief Send a roll_pitch_yaw_thrust_setpoint message |
* @param chan MAVLink channel to send the message |
* |
* @param time_boot_ms Timestamp in milliseconds since system boot |
* @param roll Desired roll angle in radians |
* @param pitch Desired pitch angle in radians |
* @param yaw Desired yaw angle in radians |
* @param thrust Collective thrust, normalized to 0 .. 1 |
*/ |
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust) |
{ |
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
char buf[20]; |
_mav_put_uint32_t(buf, 0, time_boot_ms); |
_mav_put_float(buf, 4, roll); |
_mav_put_float(buf, 8, pitch); |
_mav_put_float(buf, 12, yaw); |
_mav_put_float(buf, 16, thrust); |
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, buf, 20, 239); |
#else |
mavlink_roll_pitch_yaw_thrust_setpoint_t packet; |
packet.time_boot_ms = time_boot_ms; |
packet.roll = roll; |
packet.pitch = pitch; |
packet.yaw = yaw; |
packet.thrust = thrust; |
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, (const char *)&packet, 20, 239); |
#endif |
} |
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#endif |
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// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT UNPACKING |
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/** |
* @brief Get field time_boot_ms from roll_pitch_yaw_thrust_setpoint message |
* |
* @return Timestamp in milliseconds since system boot |
*/ |
static inline uint32_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_boot_ms(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_uint32_t(msg, 0); |
} |
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/** |
* @brief Get field roll from roll_pitch_yaw_thrust_setpoint message |
* |
* @return Desired roll angle in radians |
*/ |
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 4); |
} |
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/** |
* @brief Get field pitch from roll_pitch_yaw_thrust_setpoint message |
* |
* @return Desired pitch angle in radians |
*/ |
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 8); |
} |
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/** |
* @brief Get field yaw from roll_pitch_yaw_thrust_setpoint message |
* |
* @return Desired yaw angle in radians |
*/ |
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 12); |
} |
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/** |
* @brief Get field thrust from roll_pitch_yaw_thrust_setpoint message |
* |
* @return Collective thrust, normalized to 0 .. 1 |
*/ |
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 16); |
} |
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/** |
* @brief Decode a roll_pitch_yaw_thrust_setpoint message into a struct |
* |
* @param msg The message to decode |
* @param roll_pitch_yaw_thrust_setpoint C-struct to decode the message contents into |
*/ |
static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint) |
{ |
#if MAVLINK_NEED_BYTE_SWAP |
roll_pitch_yaw_thrust_setpoint->time_boot_ms = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_boot_ms(msg); |
roll_pitch_yaw_thrust_setpoint->roll = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(msg); |
roll_pitch_yaw_thrust_setpoint->pitch = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(msg); |
roll_pitch_yaw_thrust_setpoint->yaw = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(msg); |
roll_pitch_yaw_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(msg); |
#else |
memcpy(roll_pitch_yaw_thrust_setpoint, _MAV_PAYLOAD(msg), 20); |
#endif |
} |