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257 lines
10 KiB
257 lines
10 KiB
// MESSAGE ATTITUDE_CONTROL PACKING |
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#define MAVLINK_MSG_ID_ATTITUDE_CONTROL 85 |
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typedef struct __mavlink_attitude_control_t |
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{ |
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uint8_t target; ///< The system to be controlled |
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float roll; ///< roll |
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float pitch; ///< pitch |
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float yaw; ///< yaw |
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float thrust; ///< thrust |
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uint8_t roll_manual; ///< roll control enabled auto:0, manual:1 |
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uint8_t pitch_manual; ///< pitch auto:0, manual:1 |
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uint8_t yaw_manual; ///< yaw auto:0, manual:1 |
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uint8_t thrust_manual; ///< thrust auto:0, manual:1 |
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} mavlink_attitude_control_t; |
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/** |
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* @brief Pack a attitude_control message |
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* @param system_id ID of this system |
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* @param component_id ID of this component (e.g. 200 for IMU) |
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* @param msg The MAVLink message to compress the data into |
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* |
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* @param target The system to be controlled |
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* @param roll roll |
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* @param pitch pitch |
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* @param yaw yaw |
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* @param thrust thrust |
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* @param roll_manual roll control enabled auto:0, manual:1 |
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* @param pitch_manual pitch auto:0, manual:1 |
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* @param yaw_manual yaw auto:0, manual:1 |
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* @param thrust_manual thrust auto:0, manual:1 |
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* @return length of the message in bytes (excluding serial stream start sign) |
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*/ |
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static inline uint16_t mavlink_msg_attitude_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL; |
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i += put_uint8_t_by_index(target, i, msg->payload); // The system to be controlled |
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i += put_float_by_index(roll, i, msg->payload); // roll |
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i += put_float_by_index(pitch, i, msg->payload); // pitch |
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i += put_float_by_index(yaw, i, msg->payload); // yaw |
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i += put_float_by_index(thrust, i, msg->payload); // thrust |
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i += put_uint8_t_by_index(roll_manual, i, msg->payload); // roll control enabled auto:0, manual:1 |
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i += put_uint8_t_by_index(pitch_manual, i, msg->payload); // pitch auto:0, manual:1 |
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i += put_uint8_t_by_index(yaw_manual, i, msg->payload); // yaw auto:0, manual:1 |
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i += put_uint8_t_by_index(thrust_manual, i, msg->payload); // thrust auto:0, manual:1 |
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return mavlink_finalize_message(msg, system_id, component_id, i); |
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} |
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/** |
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* @brief Pack a attitude_control message |
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* @param system_id ID of this system |
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* @param component_id ID of this component (e.g. 200 for IMU) |
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* @param chan The MAVLink channel this message was sent over |
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* @param msg The MAVLink message to compress the data into |
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* @param target The system to be controlled |
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* @param roll roll |
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* @param pitch pitch |
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* @param yaw yaw |
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* @param thrust thrust |
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* @param roll_manual roll control enabled auto:0, manual:1 |
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* @param pitch_manual pitch auto:0, manual:1 |
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* @param yaw_manual yaw auto:0, manual:1 |
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* @param thrust_manual thrust auto:0, manual:1 |
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* @return length of the message in bytes (excluding serial stream start sign) |
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*/ |
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static inline uint16_t mavlink_msg_attitude_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL; |
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i += put_uint8_t_by_index(target, i, msg->payload); // The system to be controlled |
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i += put_float_by_index(roll, i, msg->payload); // roll |
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i += put_float_by_index(pitch, i, msg->payload); // pitch |
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i += put_float_by_index(yaw, i, msg->payload); // yaw |
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i += put_float_by_index(thrust, i, msg->payload); // thrust |
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i += put_uint8_t_by_index(roll_manual, i, msg->payload); // roll control enabled auto:0, manual:1 |
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i += put_uint8_t_by_index(pitch_manual, i, msg->payload); // pitch auto:0, manual:1 |
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i += put_uint8_t_by_index(yaw_manual, i, msg->payload); // yaw auto:0, manual:1 |
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i += put_uint8_t_by_index(thrust_manual, i, msg->payload); // thrust auto:0, manual:1 |
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
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} |
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/** |
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* @brief Encode a attitude_control struct into a message |
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* |
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* @param system_id ID of this system |
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* @param component_id ID of this component (e.g. 200 for IMU) |
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* @param msg The MAVLink message to compress the data into |
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* @param attitude_control C-struct to read the message contents from |
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*/ |
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static inline uint16_t mavlink_msg_attitude_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_control_t* attitude_control) |
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{ |
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return mavlink_msg_attitude_control_pack(system_id, component_id, msg, attitude_control->target, attitude_control->roll, attitude_control->pitch, attitude_control->yaw, attitude_control->thrust, attitude_control->roll_manual, attitude_control->pitch_manual, attitude_control->yaw_manual, attitude_control->thrust_manual); |
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} |
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/** |
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* @brief Send a attitude_control message |
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* @param chan MAVLink channel to send the message |
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* |
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* @param target The system to be controlled |
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* @param roll roll |
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* @param pitch pitch |
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* @param yaw yaw |
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* @param thrust thrust |
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* @param roll_manual roll control enabled auto:0, manual:1 |
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* @param pitch_manual pitch auto:0, manual:1 |
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* @param yaw_manual yaw auto:0, manual:1 |
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* @param thrust_manual thrust auto:0, manual:1 |
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*/ |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_attitude_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) |
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{ |
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mavlink_message_t msg; |
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mavlink_msg_attitude_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual); |
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mavlink_send_uart(chan, &msg); |
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} |
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#endif |
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// MESSAGE ATTITUDE_CONTROL UNPACKING |
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/** |
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* @brief Get field target from attitude_control message |
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* |
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* @return The system to be controlled |
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*/ |
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static inline uint8_t mavlink_msg_attitude_control_get_target(const mavlink_message_t* msg) |
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{ |
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return (uint8_t)(msg->payload)[0]; |
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} |
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/** |
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* @brief Get field roll from attitude_control message |
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* |
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* @return roll |
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*/ |
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static inline float mavlink_msg_attitude_control_get_roll(const mavlink_message_t* msg) |
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{ |
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generic_32bit r; |
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r.b[3] = (msg->payload+sizeof(uint8_t))[0]; |
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r.b[2] = (msg->payload+sizeof(uint8_t))[1]; |
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r.b[1] = (msg->payload+sizeof(uint8_t))[2]; |
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r.b[0] = (msg->payload+sizeof(uint8_t))[3]; |
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return (float)r.f; |
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} |
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/** |
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* @brief Get field pitch from attitude_control message |
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* |
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* @return pitch |
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*/ |
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static inline float mavlink_msg_attitude_control_get_pitch(const mavlink_message_t* msg) |
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{ |
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generic_32bit r; |
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r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float))[0]; |
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r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1]; |
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2]; |
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float))[3]; |
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return (float)r.f; |
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} |
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/** |
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* @brief Get field yaw from attitude_control message |
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* |
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* @return yaw |
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*/ |
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static inline float mavlink_msg_attitude_control_get_yaw(const mavlink_message_t* msg) |
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{ |
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generic_32bit r; |
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r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; |
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r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; |
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; |
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; |
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return (float)r.f; |
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} |
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/** |
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* @brief Get field thrust from attitude_control message |
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* |
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* @return thrust |
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*/ |
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static inline float mavlink_msg_attitude_control_get_thrust(const mavlink_message_t* msg) |
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{ |
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generic_32bit r; |
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r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
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r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
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return (float)r.f; |
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} |
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/** |
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* @brief Get field roll_manual from attitude_control message |
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* |
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* @return roll control enabled auto:0, manual:1 |
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*/ |
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static inline uint8_t mavlink_msg_attitude_control_get_roll_manual(const mavlink_message_t* msg) |
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{ |
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return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
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} |
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/** |
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* @brief Get field pitch_manual from attitude_control message |
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* |
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* @return pitch auto:0, manual:1 |
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*/ |
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static inline uint8_t mavlink_msg_attitude_control_get_pitch_manual(const mavlink_message_t* msg) |
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{ |
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return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0]; |
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} |
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/** |
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* @brief Get field yaw_manual from attitude_control message |
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* |
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* @return yaw auto:0, manual:1 |
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*/ |
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static inline uint8_t mavlink_msg_attitude_control_get_yaw_manual(const mavlink_message_t* msg) |
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{ |
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return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
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} |
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/** |
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* @brief Get field thrust_manual from attitude_control message |
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* |
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* @return thrust auto:0, manual:1 |
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*/ |
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static inline uint8_t mavlink_msg_attitude_control_get_thrust_manual(const mavlink_message_t* msg) |
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{ |
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return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
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} |
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/** |
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* @brief Decode a attitude_control message into a struct |
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* |
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* @param msg The message to decode |
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* @param attitude_control C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_attitude_control_decode(const mavlink_message_t* msg, mavlink_attitude_control_t* attitude_control) |
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{ |
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attitude_control->target = mavlink_msg_attitude_control_get_target(msg); |
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attitude_control->roll = mavlink_msg_attitude_control_get_roll(msg); |
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attitude_control->pitch = mavlink_msg_attitude_control_get_pitch(msg); |
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attitude_control->yaw = mavlink_msg_attitude_control_get_yaw(msg); |
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attitude_control->thrust = mavlink_msg_attitude_control_get_thrust(msg); |
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attitude_control->roll_manual = mavlink_msg_attitude_control_get_roll_manual(msg); |
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attitude_control->pitch_manual = mavlink_msg_attitude_control_get_pitch_manual(msg); |
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attitude_control->yaw_manual = mavlink_msg_attitude_control_get_yaw_manual(msg); |
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attitude_control->thrust_manual = mavlink_msg_attitude_control_get_thrust_manual(msg); |
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}
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