| 0,0 → 1,430 |
|---|
| // MESSAGE WAYPOINT PACKING |
| |
| #define MAVLINK_MSG_ID_WAYPOINT 39 |
| |
| typedef struct __mavlink_waypoint_t |
| { |
| uint8_t target_system; ///< System ID |
| uint8_t target_component; ///< Component ID |
| uint16_t seq; ///< Sequence |
| uint8_t frame; ///< The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
| uint8_t command; ///< The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
| uint8_t current; ///< false:0, true:1 |
| uint8_t autocontinue; ///< autocontinue to next wp |
| float param1; ///< PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
| float param2; ///< PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
| float param3; ///< PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
| float param4; ///< PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
| float x; ///< PARAM5 / local: x position, global: latitude |
| float y; ///< PARAM6 / y position: global: longitude |
| float z; ///< PARAM7 / z position: global: altitude |
| } mavlink_waypoint_t; |
| |
| #define MAVLINK_MSG_ID_WAYPOINT_LEN 36 |
| #define MAVLINK_MSG_ID_39_LEN 36 |
| |
| |
| |
| #define MAVLINK_MESSAGE_INFO_WAYPOINT { \ |
| "WAYPOINT", \ |
| 14, \ |
| { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_t, target_system) }, \ |
| { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_t, target_component) }, \ |
| { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_waypoint_t, seq) }, \ |
| { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_waypoint_t, frame) }, \ |
| { "command", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_waypoint_t, command) }, \ |
| { "current", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_waypoint_t, current) }, \ |
| { "autocontinue", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_waypoint_t, autocontinue) }, \ |
| { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_waypoint_t, param1) }, \ |
| { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_waypoint_t, param2) }, \ |
| { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_waypoint_t, param3) }, \ |
| { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_waypoint_t, param4) }, \ |
| { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_waypoint_t, x) }, \ |
| { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_waypoint_t, y) }, \ |
| { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_waypoint_t, z) }, \ |
| } \ |
| } |
| |
| |
| /** |
| * @brief Pack a waypoint 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 ID |
| * @param target_component Component ID |
| * @param seq Sequence |
| * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
| * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
| * @param current false:0, true:1 |
| * @param autocontinue autocontinue to next wp |
| * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
| * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
| * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
| * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
| * @param x PARAM5 / local: x position, global: latitude |
| * @param y PARAM6 / y position: global: longitude |
| * @param z PARAM7 / z position: global: altitude |
| * @return length of the message in bytes (excluding serial stream start sign) |
| */ |
| static inline uint16_t mavlink_msg_waypoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
| uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[36]; |
| _mav_put_uint8_t(buf, 0, target_system); |
| _mav_put_uint8_t(buf, 1, target_component); |
| _mav_put_uint16_t(buf, 2, seq); |
| _mav_put_uint8_t(buf, 4, frame); |
| _mav_put_uint8_t(buf, 5, command); |
| _mav_put_uint8_t(buf, 6, current); |
| _mav_put_uint8_t(buf, 7, autocontinue); |
| _mav_put_float(buf, 8, param1); |
| _mav_put_float(buf, 12, param2); |
| _mav_put_float(buf, 16, param3); |
| _mav_put_float(buf, 20, param4); |
| _mav_put_float(buf, 24, x); |
| _mav_put_float(buf, 28, y); |
| _mav_put_float(buf, 32, z); |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36); |
| #else |
| mavlink_waypoint_t packet; |
| packet.target_system = target_system; |
| packet.target_component = target_component; |
| packet.seq = seq; |
| packet.frame = frame; |
| packet.command = command; |
| packet.current = current; |
| packet.autocontinue = autocontinue; |
| packet.param1 = param1; |
| packet.param2 = param2; |
| packet.param3 = param3; |
| packet.param4 = param4; |
| packet.x = x; |
| packet.y = y; |
| packet.z = z; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_WAYPOINT; |
| return mavlink_finalize_message(msg, system_id, component_id, 36); |
| } |
| |
| /** |
| * @brief Pack a waypoint 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 ID |
| * @param target_component Component ID |
| * @param seq Sequence |
| * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
| * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
| * @param current false:0, true:1 |
| * @param autocontinue autocontinue to next wp |
| * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
| * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
| * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
| * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
| * @param x PARAM5 / local: x position, global: latitude |
| * @param y PARAM6 / y position: global: longitude |
| * @param z PARAM7 / z position: global: altitude |
| * @return length of the message in bytes (excluding serial stream start sign) |
| */ |
| static inline uint16_t mavlink_msg_waypoint_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,uint16_t seq,uint8_t frame,uint8_t command,uint8_t current,uint8_t autocontinue,float param1,float param2,float param3,float param4,float x,float y,float z) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[36]; |
| _mav_put_uint8_t(buf, 0, target_system); |
| _mav_put_uint8_t(buf, 1, target_component); |
| _mav_put_uint16_t(buf, 2, seq); |
| _mav_put_uint8_t(buf, 4, frame); |
| _mav_put_uint8_t(buf, 5, command); |
| _mav_put_uint8_t(buf, 6, current); |
| _mav_put_uint8_t(buf, 7, autocontinue); |
| _mav_put_float(buf, 8, param1); |
| _mav_put_float(buf, 12, param2); |
| _mav_put_float(buf, 16, param3); |
| _mav_put_float(buf, 20, param4); |
| _mav_put_float(buf, 24, x); |
| _mav_put_float(buf, 28, y); |
| _mav_put_float(buf, 32, z); |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36); |
| #else |
| mavlink_waypoint_t packet; |
| packet.target_system = target_system; |
| packet.target_component = target_component; |
| packet.seq = seq; |
| packet.frame = frame; |
| packet.command = command; |
| packet.current = current; |
| packet.autocontinue = autocontinue; |
| packet.param1 = param1; |
| packet.param2 = param2; |
| packet.param3 = param3; |
| packet.param4 = param4; |
| packet.x = x; |
| packet.y = y; |
| packet.z = z; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_WAYPOINT; |
| return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36); |
| } |
| |
| /** |
| * @brief Encode a waypoint 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 waypoint C-struct to read the message contents from |
| */ |
| static inline uint16_t mavlink_msg_waypoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_t* waypoint) |
| { |
| return mavlink_msg_waypoint_pack(system_id, component_id, msg, waypoint->target_system, waypoint->target_component, waypoint->seq, waypoint->frame, waypoint->command, waypoint->current, waypoint->autocontinue, waypoint->param1, waypoint->param2, waypoint->param3, waypoint->param4, waypoint->x, waypoint->y, waypoint->z); |
| } |
| |
| /** |
| * @brief Send a waypoint message |
| * @param chan MAVLink channel to send the message |
| * |
| * @param target_system System ID |
| * @param target_component Component ID |
| * @param seq Sequence |
| * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
| * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
| * @param current false:0, true:1 |
| * @param autocontinue autocontinue to next wp |
| * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
| * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
| * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
| * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
| * @param x PARAM5 / local: x position, global: latitude |
| * @param y PARAM6 / y position: global: longitude |
| * @param z PARAM7 / z position: global: altitude |
| */ |
| #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
| |
| static inline void mavlink_msg_waypoint_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[36]; |
| _mav_put_uint8_t(buf, 0, target_system); |
| _mav_put_uint8_t(buf, 1, target_component); |
| _mav_put_uint16_t(buf, 2, seq); |
| _mav_put_uint8_t(buf, 4, frame); |
| _mav_put_uint8_t(buf, 5, command); |
| _mav_put_uint8_t(buf, 6, current); |
| _mav_put_uint8_t(buf, 7, autocontinue); |
| _mav_put_float(buf, 8, param1); |
| _mav_put_float(buf, 12, param2); |
| _mav_put_float(buf, 16, param3); |
| _mav_put_float(buf, 20, param4); |
| _mav_put_float(buf, 24, x); |
| _mav_put_float(buf, 28, y); |
| _mav_put_float(buf, 32, z); |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT, buf, 36); |
| #else |
| mavlink_waypoint_t packet; |
| packet.target_system = target_system; |
| packet.target_component = target_component; |
| packet.seq = seq; |
| packet.frame = frame; |
| packet.command = command; |
| packet.current = current; |
| packet.autocontinue = autocontinue; |
| packet.param1 = param1; |
| packet.param2 = param2; |
| packet.param3 = param3; |
| packet.param4 = param4; |
| packet.x = x; |
| packet.y = y; |
| packet.z = z; |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT, (const char *)&packet, 36); |
| #endif |
| } |
| |
| #endif |
| |
| // MESSAGE WAYPOINT UNPACKING |
| |
| |
| /** |
| * @brief Get field target_system from waypoint message |
| * |
| * @return System ID |
| */ |
| static inline uint8_t mavlink_msg_waypoint_get_target_system(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 0); |
| } |
| |
| /** |
| * @brief Get field target_component from waypoint message |
| * |
| * @return Component ID |
| */ |
| static inline uint8_t mavlink_msg_waypoint_get_target_component(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 1); |
| } |
| |
| /** |
| * @brief Get field seq from waypoint message |
| * |
| * @return Sequence |
| */ |
| static inline uint16_t mavlink_msg_waypoint_get_seq(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint16_t(msg, 2); |
| } |
| |
| /** |
| * @brief Get field frame from waypoint message |
| * |
| * @return The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
| */ |
| static inline uint8_t mavlink_msg_waypoint_get_frame(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 4); |
| } |
| |
| /** |
| * @brief Get field command from waypoint message |
| * |
| * @return The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
| */ |
| static inline uint8_t mavlink_msg_waypoint_get_command(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 5); |
| } |
| |
| /** |
| * @brief Get field current from waypoint message |
| * |
| * @return false:0, true:1 |
| */ |
| static inline uint8_t mavlink_msg_waypoint_get_current(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 6); |
| } |
| |
| /** |
| * @brief Get field autocontinue from waypoint message |
| * |
| * @return autocontinue to next wp |
| */ |
| static inline uint8_t mavlink_msg_waypoint_get_autocontinue(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 7); |
| } |
| |
| /** |
| * @brief Get field param1 from waypoint message |
| * |
| * @return PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
| */ |
| static inline float mavlink_msg_waypoint_get_param1(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 8); |
| } |
| |
| /** |
| * @brief Get field param2 from waypoint message |
| * |
| * @return PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
| */ |
| static inline float mavlink_msg_waypoint_get_param2(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 12); |
| } |
| |
| /** |
| * @brief Get field param3 from waypoint message |
| * |
| * @return PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
| */ |
| static inline float mavlink_msg_waypoint_get_param3(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 16); |
| } |
| |
| /** |
| * @brief Get field param4 from waypoint message |
| * |
| * @return PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
| */ |
| static inline float mavlink_msg_waypoint_get_param4(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 20); |
| } |
| |
| /** |
| * @brief Get field x from waypoint message |
| * |
| * @return PARAM5 / local: x position, global: latitude |
| */ |
| static inline float mavlink_msg_waypoint_get_x(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 24); |
| } |
| |
| /** |
| * @brief Get field y from waypoint message |
| * |
| * @return PARAM6 / y position: global: longitude |
| */ |
| static inline float mavlink_msg_waypoint_get_y(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 28); |
| } |
| |
| /** |
| * @brief Get field z from waypoint message |
| * |
| * @return PARAM7 / z position: global: altitude |
| */ |
| static inline float mavlink_msg_waypoint_get_z(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 32); |
| } |
| |
| /** |
| * @brief Decode a waypoint message into a struct |
| * |
| * @param msg The message to decode |
| * @param waypoint C-struct to decode the message contents into |
| */ |
| static inline void mavlink_msg_waypoint_decode(const mavlink_message_t* msg, mavlink_waypoint_t* waypoint) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP |
| waypoint->target_system = mavlink_msg_waypoint_get_target_system(msg); |
| waypoint->target_component = mavlink_msg_waypoint_get_target_component(msg); |
| waypoint->seq = mavlink_msg_waypoint_get_seq(msg); |
| waypoint->frame = mavlink_msg_waypoint_get_frame(msg); |
| waypoint->command = mavlink_msg_waypoint_get_command(msg); |
| waypoint->current = mavlink_msg_waypoint_get_current(msg); |
| waypoint->autocontinue = mavlink_msg_waypoint_get_autocontinue(msg); |
| waypoint->param1 = mavlink_msg_waypoint_get_param1(msg); |
| waypoint->param2 = mavlink_msg_waypoint_get_param2(msg); |
| waypoint->param3 = mavlink_msg_waypoint_get_param3(msg); |
| waypoint->param4 = mavlink_msg_waypoint_get_param4(msg); |
| waypoint->x = mavlink_msg_waypoint_get_x(msg); |
| waypoint->y = mavlink_msg_waypoint_get_y(msg); |
| waypoint->z = mavlink_msg_waypoint_get_z(msg); |
| #else |
| memcpy(waypoint, _MAV_PAYLOAD(msg), 36); |
| #endif |
| } |