Blame |
Last modification |
View Log
| RSS feed
// MESSAGE CONTROL_STATUS PACKING
#define MAVLINK_MSG_ID_CONTROL_STATUS 52
typedef struct __mavlink_control_status_t
{
uint8_t position_fix; ///< Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
uint8_t vision_fix; ///< Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
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
uint8_t ahrs_health; ///< Attitude estimation health: 0: poor, 255: excellent
uint8_t control_att; ///< 0: Attitude control disabled, 1: enabled
uint8_t control_pos_xy; ///< 0: X, Y position control disabled, 1: enabled
uint8_t control_pos_z; ///< 0: Z position control disabled, 1: enabled
uint8_t control_pos_yaw; ///< 0: Yaw angle control disabled, 1: enabled
} mavlink_control_status_t;
#define MAVLINK_MSG_ID_CONTROL_STATUS_LEN 8
#define MAVLINK_MSG_ID_52_LEN 8
#define MAVLINK_MESSAGE_INFO_CONTROL_STATUS { \
"CONTROL_STATUS", \
8, \
{ { "position_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_control_status_t, position_fix) }, \
{ "vision_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_control_status_t, vision_fix) }, \
{ "gps_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_control_status_t, gps_fix) }, \
{ "ahrs_health", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_control_status_t, ahrs_health) }, \
{ "control_att", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_control_status_t, control_att) }, \
{ "control_pos_xy", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_control_status_t, control_pos_xy) }, \
{ "control_pos_z", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_control_status_t, control_pos_z) }, \
{ "control_pos_yaw", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_control_status_t, control_pos_yaw) }, \
} \
}
/**
* @brief Pack a control_status 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 position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
* @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
* @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
* @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
* @param control_att 0: Attitude control disabled, 1: enabled
* @param control_pos_xy 0: X, Y position control disabled, 1: enabled
* @param control_pos_z 0: Z position control disabled, 1: enabled
* @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_control_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint8_t(buf, 0, position_fix);
_mav_put_uint8_t(buf, 1, vision_fix);
_mav_put_uint8_t(buf, 2, gps_fix);
_mav_put_uint8_t(buf, 3, ahrs_health);
_mav_put_uint8_t(buf, 4, control_att);
_mav_put_uint8_t(buf, 5, control_pos_xy);
_mav_put_uint8_t(buf, 6, control_pos_z);
_mav_put_uint8_t(buf, 7, control_pos_yaw);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8);
#else
mavlink_control_status_t packet;
packet.position_fix = position_fix;
packet.vision_fix = vision_fix;
packet.gps_fix = gps_fix;
packet.ahrs_health = ahrs_health;
packet.control_att = control_att;
packet.control_pos_xy = control_pos_xy;
packet.control_pos_z = control_pos_z;
packet.control_pos_yaw = control_pos_yaw;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
return mavlink_finalize_message(msg, system_id, component_id, 8);
}
/**
* @brief Pack a control_status 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 position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
* @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
* @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
* @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
* @param control_att 0: Attitude control disabled, 1: enabled
* @param control_pos_xy 0: X, Y position control disabled, 1: enabled
* @param control_pos_z 0: Z position control disabled, 1: enabled
* @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_control_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint8_t(buf, 0, position_fix);
_mav_put_uint8_t(buf, 1, vision_fix);
_mav_put_uint8_t(buf, 2, gps_fix);
_mav_put_uint8_t(buf, 3, ahrs_health);
_mav_put_uint8_t(buf, 4, control_att);
_mav_put_uint8_t(buf, 5, control_pos_xy);
_mav_put_uint8_t(buf, 6, control_pos_z);
_mav_put_uint8_t(buf, 7, control_pos_yaw);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8);
#else
mavlink_control_status_t packet;
packet.position_fix = position_fix;
packet.vision_fix = vision_fix;
packet.gps_fix = gps_fix;
packet.ahrs_health = ahrs_health;
packet.control_att = control_att;
packet.control_pos_xy = control_pos_xy;
packet.control_pos_z = control_pos_z;
packet.control_pos_yaw = control_pos_yaw;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8);
}
/**
* @brief Encode a control_status 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 control_status C-struct to read the message contents from
*/
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)
{
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);
}
/**
* @brief Send a control_status message
* @param chan MAVLink channel to send the message
*
* @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
* @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
* @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
* @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
* @param control_att 0: Attitude control disabled, 1: enabled
* @param control_pos_xy 0: X, Y position control disabled, 1: enabled
* @param control_pos_z 0: Z position control disabled, 1: enabled
* @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[8];
_mav_put_uint8_t(buf, 0, position_fix);
_mav_put_uint8_t(buf, 1, vision_fix);
_mav_put_uint8_t(buf, 2, gps_fix);
_mav_put_uint8_t(buf, 3, ahrs_health);
_mav_put_uint8_t(buf, 4, control_att);
_mav_put_uint8_t(buf, 5, control_pos_xy);
_mav_put_uint8_t(buf, 6, control_pos_z);
_mav_put_uint8_t(buf, 7, control_pos_yaw);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, buf, 8);
#else
mavlink_control_status_t packet;
packet.position_fix = position_fix;
packet.vision_fix = vision_fix;
packet.gps_fix = gps_fix;
packet.ahrs_health = ahrs_health;
packet.control_att = control_att;
packet.control_pos_xy = control_pos_xy;
packet.control_pos_z = control_pos_z;
packet.control_pos_yaw = control_pos_yaw;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, (const char *)&packet, 8);
#endif
}
#endif
// MESSAGE CONTROL_STATUS UNPACKING
/**
* @brief Get field position_fix from control_status message
*
* @return Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
*/
static inline uint8_t mavlink_msg_control_status_get_position_fix(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field vision_fix from control_status message
*
* @return Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
*/
static inline uint8_t mavlink_msg_control_status_get_vision_fix(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field gps_fix from control_status message
*
* @return GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
*/
static inline uint8_t mavlink_msg_control_status_get_gps_fix(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Get field ahrs_health from control_status message
*
* @return Attitude estimation health: 0: poor, 255: excellent
*/
static inline uint8_t mavlink_msg_control_status_get_ahrs_health(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 3);
}
/**
* @brief Get field control_att from control_status message
*
* @return 0: Attitude control disabled, 1: enabled
*/
static inline uint8_t mavlink_msg_control_status_get_control_att(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 4);
}
/**
* @brief Get field control_pos_xy from control_status message
*
* @return 0: X, Y position control disabled, 1: enabled
*/
static inline uint8_t mavlink_msg_control_status_get_control_pos_xy(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 5);
}
/**
* @brief Get field control_pos_z from control_status message
*
* @return 0: Z position control disabled, 1: enabled
*/
static inline uint8_t mavlink_msg_control_status_get_control_pos_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 6);
}
/**
* @brief Get field control_pos_yaw from control_status message
*
* @return 0: Yaw angle control disabled, 1: enabled
*/
static inline uint8_t mavlink_msg_control_status_get_control_pos_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 7);
}
/**
* @brief Decode a control_status message into a struct
*
* @param msg The message to decode
* @param control_status C-struct to decode the message contents into
*/
static inline void mavlink_msg_control_status_decode(const mavlink_message_t* msg, mavlink_control_status_t* control_status)
{
#if MAVLINK_NEED_BYTE_SWAP
control_status->position_fix = mavlink_msg_control_status_get_position_fix(msg);
control_status->vision_fix = mavlink_msg_control_status_get_vision_fix(msg);
control_status->gps_fix = mavlink_msg_control_status_get_gps_fix(msg);
control_status->ahrs_health = mavlink_msg_control_status_get_ahrs_health(msg);
control_status->control_att = mavlink_msg_control_status_get_control_att(msg);
control_status->control_pos_xy = mavlink_msg_control_status_get_control_pos_xy(msg);
control_status->control_pos_z = mavlink_msg_control_status_get_control_pos_z(msg);
control_status->control_pos_yaw = mavlink_msg_control_status_get_control_pos_yaw(msg);
#else
memcpy(control_status, _MAV_PAYLOAD(msg), 8);
#endif
}