oberion
14 years ago
16 changed files with 269 additions and 484 deletions
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#include "senseSoarMAV.h" |
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#include <qmath.h> |
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senseSoarMAV::senseSoarMAV(MAVLinkProtocol* mavlink, int id) |
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: UAS(mavlink, id) |
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{ |
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} |
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senseSoarMAV::~senseSoarMAV(void) |
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{ |
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} |
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void senseSoarMAV::receiveMessage(LinkInterface *link, mavlink_message_t message) |
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{ |
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#ifdef MAVLINK_ENABLED_SENSESOAR |
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if (message.sysid == uasId) // make sure the message is for the right UAV
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{
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if (!link) return; |
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switch (message.msgid) |
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{ |
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case MAVLINK_MSG_ID_CMD_AIRSPEED_ACK: // TO DO: check for acknowledgement after sended commands
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{ |
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mavlink_cmd_airspeed_ack_t airSpeedMsg; |
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mavlink_msg_cmd_airspeed_ack_decode(&message,&airSpeedMsg); |
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break; |
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} |
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/*case MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG: only sent to UAV
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{ |
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break; |
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}*/ |
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case MAVLINK_MSG_ID_FILT_ROT_VEL: // rotational velocities
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{ |
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mavlink_filt_rot_vel_t rotVelMsg; |
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mavlink_msg_filt_rot_vel_decode(&message,&rotVelMsg); |
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quint64 time = getUnixTime(); |
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for(unsigned char i=0;i<3;i++) |
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{ |
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this->m_rotVel[i]=rotVelMsg.rotVel[i]; |
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} |
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emit valueChanged(uasId, "rollspeed", "rad/s", this->m_rotVel[0], time); |
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emit valueChanged(uasId, "pitchspeed", "rad/s", this->m_rotVel[1], time); |
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emit valueChanged(uasId, "yawspeed", "rad/s", this->m_rotVel[2], time); |
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emit attitudeSpeedChanged(uasId, this->m_rotVel[0], this->m_rotVel[1], this->m_rotVel[2], time); |
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break; |
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} |
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case MAVLINK_MSG_ID_LLC_OUT: // low level controller output
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{ |
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mavlink_llc_out_t llcMsg; |
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mavlink_msg_llc_out_decode(&message,&llcMsg); |
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quint64 time = getUnixTime(); |
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emit valueChanged(uasId, "Servo. 1", "rad", llcMsg.servoOut[0], time); |
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emit valueChanged(uasId, "Servo. 2", "rad", llcMsg.servoOut[1], time); |
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emit valueChanged(uasId, "Servo. 3", "rad", llcMsg.servoOut[2], time); |
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emit valueChanged(uasId, "Servo. 4", "rad", llcMsg.servoOut[3], time); |
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emit valueChanged(uasId, "Motor. 1", "raw", llcMsg.MotorOut[0] , time); |
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emit valueChanged(uasId, "Motor. 2", "raw", llcMsg.MotorOut[1], time); |
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break; |
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} |
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case MAVLINK_MSG_ID_OBS_AIR_TEMP: |
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{ |
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mavlink_obs_air_temp_t airTMsg; |
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mavlink_msg_obs_air_temp_decode(&message,&airTMsg); |
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quint64 time = getUnixTime(); |
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emit valueChanged(uasId, "Air Temp", "°", airTMsg.airT, time); |
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break; |
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} |
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case MAVLINK_MSG_ID_OBS_AIR_VELOCITY: |
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{ |
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mavlink_obs_air_velocity_t airVMsg; |
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mavlink_msg_obs_air_velocity_decode(&message,&airVMsg); |
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quint64 time = getUnixTime(); |
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emit valueChanged(uasId, "AirVel. mag", "m/s", airVMsg.magnitude, time); |
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emit valueChanged(uasId, "AirVel. AoA", "rad", airVMsg.aoa, time); |
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emit valueChanged(uasId, "AirVel. Slip", "rad", airVMsg.slip, time); |
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break; |
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} |
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case MAVLINK_MSG_ID_OBS_ATTITUDE: |
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{ |
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mavlink_obs_attitude_t quatMsg; |
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mavlink_msg_obs_attitude_decode(&message,&quatMsg); |
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quint64 time = getUnixTime(); |
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this->quat2euler(quatMsg.quat,this->roll,this->pitch,this->yaw); |
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emit valueChanged(uasId, "roll", "rad", roll, time); |
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emit valueChanged(uasId, "pitch", "rad", pitch, time); |
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emit valueChanged(uasId, "yaw", "rad", yaw, time); |
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emit valueChanged(uasId, "roll deg", "deg", (roll/M_PI)*180.0, time); |
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emit valueChanged(uasId, "pitch deg", "deg", (pitch/M_PI)*180.0, time); |
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emit valueChanged(uasId, "heading deg", "deg", (yaw/M_PI)*180.0, time); |
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emit attitudeChanged(this, roll, pitch, yaw, time); |
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break; |
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} |
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case MAVLINK_MSG_ID_OBS_BIAS: |
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{ |
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mavlink_obs_bias_t biasMsg; |
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mavlink_msg_obs_bias_decode(&message, &biasMsg); |
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quint64 time = getUnixTime(); |
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emit valueChanged(uasId, "acc. biasX", "m/s^2", biasMsg.accBias[0], time); |
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emit valueChanged(uasId, "acc. biasY", "m/s^2", biasMsg.accBias[1], time); |
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emit valueChanged(uasId, "acc. biasZ", "m/s^2", biasMsg.accBias[2], time); |
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emit valueChanged(uasId, "gyro. biasX", "rad/s", biasMsg.gyroBias[0], time); |
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emit valueChanged(uasId, "gyro. biasY", "rad/s", biasMsg.gyroBias[1], time); |
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emit valueChanged(uasId, "gyro. biasZ", "rad/s", biasMsg.gyroBias[2], time); |
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break; |
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} |
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case MAVLINK_MSG_ID_OBS_POSITION: |
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{ |
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mavlink_obs_position_t posMsg; |
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mavlink_msg_obs_position_decode(&message, &posMsg); |
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quint64 time = getUnixTime(); |
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this->localX = posMsg.pos[0]; |
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this->localY = posMsg.pos[1]; |
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this->localZ = posMsg.pos[2]; |
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emit valueChanged(uasId, "x", "m", this->localX, time); |
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emit valueChanged(uasId, "y", "m", this->localY, time); |
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emit valueChanged(uasId, "z", "m", this->localZ, time); |
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emit localPositionChanged(this, this->localX, this->localY, this->localZ, time); |
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break; |
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} |
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case MAVLINK_MSG_ID_OBS_QFF: |
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{ |
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mavlink_obs_qff_t qffMsg; |
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mavlink_msg_obs_qff_decode(&message,&qffMsg); |
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quint64 time = getUnixTime(); |
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emit valueChanged(uasId, "QFF", "Pa", qffMsg.qff, time); |
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break; |
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} |
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case MAVLINK_MSG_ID_OBS_VELOCITY: |
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{ |
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mavlink_obs_velocity_t velMsg; |
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mavlink_msg_obs_velocity_decode(&message, &velMsg); |
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quint64 time = getUnixTime(); |
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emit valueChanged(uasId, "x speed", "m/s", velMsg.vel[0], time); |
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emit valueChanged(uasId, "y speed", "m/s", velMsg.vel[1], time); |
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emit valueChanged(uasId, "z speed", "m/s", velMsg.vel[2], time); |
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emit speedChanged(this, velMsg.vel[0], velMsg.vel[1], velMsg.vel[2], time); |
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break; |
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} |
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case MAVLINK_MSG_ID_OBS_WIND: |
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{ |
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mavlink_obs_wind_t windMsg; |
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mavlink_msg_obs_wind_decode(&message, &windMsg); |
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quint64 time = getUnixTime(); |
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emit valueChanged(uasId, "Wind speed x", "m/s", windMsg.wind[0], time); |
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emit valueChanged(uasId, "Wind speed y", "m/s", windMsg.wind[1], time); |
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emit valueChanged(uasId, "Wind speed z", "m/s", windMsg.wind[2], time); |
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break; |
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} |
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case MAVLINK_MSG_ID_PM_ELEC: |
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{ |
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mavlink_pm_elec_t pmMsg; |
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mavlink_msg_pm_elec_decode(&message, &pmMsg); |
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quint64 time = getUnixTime(); |
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emit valueChanged(uasId, "Battery status", "%", pmMsg.BatStat, time); |
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emit valueChanged(uasId, "Power consuming", "W", pmMsg.PwCons, time); |
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emit valueChanged(uasId, "Power generating sys1", "W", pmMsg.PwGen[0], time); |
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emit valueChanged(uasId, "Power generating sys2", "W", pmMsg.PwGen[1], time); |
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emit valueChanged(uasId, "Power generating sys3", "W", pmMsg.PwGen[2], time); |
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break; |
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} |
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case MAVLINK_MSG_ID_SYS_STAT: |
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{ |
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mavlink_sys_stat_t statMsg; |
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mavlink_msg_sys_stat_decode(&message,&statMsg); |
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quint64 time = getUnixTime(); |
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emit valueChanged(uasId, "Motor1 status", "on/off", (statMsg.act & 0x01), time); |
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emit valueChanged(uasId, "Motor2 status", "on/off", (statMsg.act & 0x02), time); |
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emit valueChanged(uasId, "Servo1 status", "on/off", (statMsg.act & 0x04), time); |
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emit valueChanged(uasId, "Servo2 status", "on/off", (statMsg.act & 0x08), time); |
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emit valueChanged(uasId, "Servo3 status", "on/off", (statMsg.act & 0x10), time); |
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emit valueChanged(uasId, "Servo4 status", "on/off", (statMsg.act & 0x20), time); |
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emit valueChanged(uasId, "WiFI status", "on/off", (statMsg.mod & 0x01), time); |
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emit valueChanged(uasId, "RC status", "on/off", (statMsg.mod & 0x02), time); |
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emit valueChanged(uasId, "Magnetometer status", "on/off", (statMsg.mod & 0x04), time); |
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emit valueChanged(uasId, "Pressure status", "on/off", (statMsg.mod & 0x08), time); |
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emit valueChanged(uasId, "IMU acc status", "on/off", (statMsg.mod & 0x10), time); |
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emit valueChanged(uasId, "IMU gyro status", "on/off", (statMsg.mod & 0x20), time); |
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emit valueChanged(uasId, "Xbee strength", "%", statMsg.commRssi, time); |
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//emit valueChanged(uasId, "Xbee strength", "%", statMsg.gps, time); // TO DO: define gps bits
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break; |
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} |
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default: |
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{ |
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// Let UAS handle the default message set
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UAS::receiveMessage(link, message); |
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break; |
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} |
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} |
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} |
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#else |
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// Let UAS handle the default message set
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UAS::receiveMessage(link, message); |
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Q_UNUSED(link); |
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Q_UNUSED(message); |
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#endif // MAVLINK_ENABLED_SENSESOAR
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} |
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void senseSoarMAV::quat2euler(const double *quat, double &roll, double &pitch, double &yaw) |
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{
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roll = std::atan2(2*(quat[0]*quat[1] + quat[2]*quat[3]),quat[0]*quat[0] - quat[1]*quat[1] - quat[2]*quat[2] + quat[3]*quat[3]); |
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pitch = std::asin(qMax(-1.0,qMin(1.0,2*(quat[0]*quat[2] - quat[1]*quat[3])))); |
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yaw = std::atan2(2*(quat[1]*quat[2] + quat[0]*quat[3]),quat[0]*quat[0] + quat[1]*quat[1] - quat[2]*quat[2] - quat[3]*quat[3]); |
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return; |
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} |
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#ifndef _SENSESOARMAV_H_ |
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#define _SENSESOARMAV_H_ |
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#include "UAS.h" |
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#include "mavlink.h" |
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#include <QTimer> |
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class senseSoarMAV : public UAS |
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{ |
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Q_OBJECT |
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Q_INTERFACES(UASInterface) |
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public: |
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senseSoarMAV(MAVLinkProtocol* mavlink, int id); |
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~senseSoarMAV(void); |
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public slots: |
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/** @brief Receive a MAVLink message from this MAV */ |
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void receiveMessage(LinkInterface* link, mavlink_message_t message); |
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protected: |
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float m_rotVel[3]; // Rotational velocity in the body frame
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private: |
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void quat2euler(const double *quat, double &roll, double &pitch, double &yaw);
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}; |
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#endif // _SENSESOARMAV_H_
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@@ -1,118 +0,0 @@
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// MESSAGE SENSESOAR_MODE_ACK PACKING
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#define MAVLINK_MSG_ID_SENSESOAR_MODE_ACK 167 |
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typedef struct __mavlink_sensesoar_mode_ack_t
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{ |
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uint8_t mode; ///< Mode as desribed in the sensesoar_mode
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uint8_t ack; ///< 0:ack, 1:nack
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} mavlink_sensesoar_mode_ack_t; |
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/**
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* @brief Pack a sensesoar_mode_ack 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 mode Mode as desribed in the sensesoar_mode |
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* @param ack 0:ack, 1:nack |
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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_sensesoar_mode_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t mode, uint8_t ack) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_SENSESOAR_MODE_ACK; |
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i += put_uint8_t_by_index(mode, i, msg->payload); // Mode as desribed in the sensesoar_mode
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i += put_uint8_t_by_index(ack, i, msg->payload); // 0:ack, 1:nack
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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 sensesoar_mode_ack 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 mode Mode as desribed in the sensesoar_mode |
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* @param ack 0:ack, 1:nack |
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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_sensesoar_mode_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t mode, uint8_t ack) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_SENSESOAR_MODE_ACK; |
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i += put_uint8_t_by_index(mode, i, msg->payload); // Mode as desribed in the sensesoar_mode
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i += put_uint8_t_by_index(ack, i, msg->payload); // 0:ack, 1:nack
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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 sensesoar_mode_ack 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 sensesoar_mode_ack C-struct to read the message contents from |
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*/ |
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static inline uint16_t mavlink_msg_sensesoar_mode_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensesoar_mode_ack_t* sensesoar_mode_ack) |
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{ |
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return mavlink_msg_sensesoar_mode_ack_pack(system_id, component_id, msg, sensesoar_mode_ack->mode, sensesoar_mode_ack->ack); |
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} |
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/**
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* @brief Send a sensesoar_mode_ack message |
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* @param chan MAVLink channel to send the message |
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* |
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* @param mode Mode as desribed in the sensesoar_mode |
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* @param ack 0:ack, 1:nack |
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*/ |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_sensesoar_mode_ack_send(mavlink_channel_t chan, uint8_t mode, uint8_t ack) |
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{ |
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mavlink_message_t msg; |
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mavlink_msg_sensesoar_mode_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mode, ack); |
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mavlink_send_uart(chan, &msg); |
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} |
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#endif |
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// MESSAGE SENSESOAR_MODE_ACK UNPACKING
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/**
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* @brief Get field mode from sensesoar_mode_ack message |
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* |
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* @return Mode as desribed in the sensesoar_mode |
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*/ |
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static inline uint8_t mavlink_msg_sensesoar_mode_ack_get_mode(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 ack from sensesoar_mode_ack message |
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* |
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* @return 0:ack, 1:nack |
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*/ |
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static inline uint8_t mavlink_msg_sensesoar_mode_ack_get_ack(const mavlink_message_t* msg) |
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{ |
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return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; |
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} |
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/**
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* @brief Decode a sensesoar_mode_ack message into a struct |
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* |
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* @param msg The message to decode |
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* @param sensesoar_mode_ack C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_sensesoar_mode_ack_decode(const mavlink_message_t* msg, mavlink_sensesoar_mode_ack_t* sensesoar_mode_ack) |
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{ |
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sensesoar_mode_ack->mode = mavlink_msg_sensesoar_mode_ack_get_mode(msg); |
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sensesoar_mode_ack->ack = mavlink_msg_sensesoar_mode_ack_get_ack(msg); |
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} |
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@ -1,118 +0,0 @@
@@ -1,118 +0,0 @@
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// MESSAGE SENSESOAR_MODE_CHNG PACKING
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#define MAVLINK_MSG_ID_SENSESOAR_MODE_CHNG 166 |
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typedef struct __mavlink_sensesoar_mode_chng_t
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{ |
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uint8_t target; ///< Target ID
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uint8_t mode; ///< Mode as desribed in the sensesoar_mode
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} mavlink_sensesoar_mode_chng_t; |
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/**
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* @brief Pack a sensesoar_mode_chng 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 Target ID |
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* @param mode Mode as desribed in the sensesoar_mode |
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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_sensesoar_mode_chng_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t mode) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_SENSESOAR_MODE_CHNG; |
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i += put_uint8_t_by_index(target, i, msg->payload); // Target ID
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i += put_uint8_t_by_index(mode, i, msg->payload); // Mode as desribed in the sensesoar_mode
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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 sensesoar_mode_chng 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 Target ID |
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* @param mode Mode as desribed in the sensesoar_mode |
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* @return length of the message in bytes (excluding serial stream start sign) |
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*/ |
||||
static inline uint16_t mavlink_msg_sensesoar_mode_chng_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t mode) |
||||
{ |
||||
uint16_t i = 0; |
||||
msg->msgid = MAVLINK_MSG_ID_SENSESOAR_MODE_CHNG; |
||||
|
||||
i += put_uint8_t_by_index(target, i, msg->payload); // Target ID
|
||||
i += put_uint8_t_by_index(mode, i, msg->payload); // Mode as desribed in the sensesoar_mode
|
||||
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
||||
} |
||||
|
||||
/**
|
||||
* @brief Encode a sensesoar_mode_chng 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 sensesoar_mode_chng C-struct to read the message contents from |
||||
*/ |
||||
static inline uint16_t mavlink_msg_sensesoar_mode_chng_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensesoar_mode_chng_t* sensesoar_mode_chng) |
||||
{ |
||||
return mavlink_msg_sensesoar_mode_chng_pack(system_id, component_id, msg, sensesoar_mode_chng->target, sensesoar_mode_chng->mode); |
||||
} |
||||
|
||||
/**
|
||||
* @brief Send a sensesoar_mode_chng message |
||||
* @param chan MAVLink channel to send the message |
||||
* |
||||
* @param target Target ID |
||||
* @param mode Mode as desribed in the sensesoar_mode |
||||
*/ |
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
||||
|
||||
static inline void mavlink_msg_sensesoar_mode_chng_send(mavlink_channel_t chan, uint8_t target, uint8_t mode) |
||||
{ |
||||
mavlink_message_t msg; |
||||
mavlink_msg_sensesoar_mode_chng_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, mode); |
||||
mavlink_send_uart(chan, &msg); |
||||
} |
||||
|
||||
#endif |
||||
// MESSAGE SENSESOAR_MODE_CHNG UNPACKING
|
||||
|
||||
/**
|
||||
* @brief Get field target from sensesoar_mode_chng message |
||||
* |
||||
* @return Target ID |
||||
*/ |
||||
static inline uint8_t mavlink_msg_sensesoar_mode_chng_get_target(const mavlink_message_t* msg) |
||||
{ |
||||
return (uint8_t)(msg->payload)[0]; |
||||
} |
||||
|
||||
/**
|
||||
* @brief Get field mode from sensesoar_mode_chng message |
||||
* |
||||
* @return Mode as desribed in the sensesoar_mode |
||||
*/ |
||||
static inline uint8_t mavlink_msg_sensesoar_mode_chng_get_mode(const mavlink_message_t* msg) |
||||
{ |
||||
return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; |
||||
} |
||||
|
||||
/**
|
||||
* @brief Decode a sensesoar_mode_chng message into a struct |
||||
* |
||||
* @param msg The message to decode |
||||
* @param sensesoar_mode_chng C-struct to decode the message contents into |
||||
*/ |
||||
static inline void mavlink_msg_sensesoar_mode_chng_decode(const mavlink_message_t* msg, mavlink_sensesoar_mode_chng_t* sensesoar_mode_chng) |
||||
{ |
||||
sensesoar_mode_chng->target = mavlink_msg_sensesoar_mode_chng_get_target(msg); |
||||
sensesoar_mode_chng->mode = mavlink_msg_sensesoar_mode_chng_get_mode(msg); |
||||
} |
||||
@ -1,101 +0,0 @@
@@ -1,101 +0,0 @@
|
||||
// MESSAGE SENSESOAR_MODE_RQST PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_SENSESOAR_MODE_RQST 168 |
||||
|
||||
typedef struct __mavlink_sensesoar_mode_rqst_t
|
||||
{ |
||||
uint8_t target; ///< Target ID
|
||||
|
||||
} mavlink_sensesoar_mode_rqst_t; |
||||
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a sensesoar_mode_rqst 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 Target ID |
||||
* @return length of the message in bytes (excluding serial stream start sign) |
||||
*/ |
||||
static inline uint16_t mavlink_msg_sensesoar_mode_rqst_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target) |
||||
{ |
||||
uint16_t i = 0; |
||||
msg->msgid = MAVLINK_MSG_ID_SENSESOAR_MODE_RQST; |
||||
|
||||
i += put_uint8_t_by_index(target, i, msg->payload); // Target ID
|
||||
|
||||
return mavlink_finalize_message(msg, system_id, component_id, i); |
||||
} |
||||
|
||||
/**
|
||||
* @brief Pack a sensesoar_mode_rqst message |
||||
* @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 Target ID |
||||
* @return length of the message in bytes (excluding serial stream start sign) |
||||
*/ |
||||
static inline uint16_t mavlink_msg_sensesoar_mode_rqst_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target) |
||||
{ |
||||
uint16_t i = 0; |
||||
msg->msgid = MAVLINK_MSG_ID_SENSESOAR_MODE_RQST; |
||||
|
||||
i += put_uint8_t_by_index(target, i, msg->payload); // Target ID
|
||||
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
||||
} |
||||
|
||||
/**
|
||||
* @brief Encode a sensesoar_mode_rqst 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 sensesoar_mode_rqst C-struct to read the message contents from |
||||
*/ |
||||
static inline uint16_t mavlink_msg_sensesoar_mode_rqst_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensesoar_mode_rqst_t* sensesoar_mode_rqst) |
||||
{ |
||||
return mavlink_msg_sensesoar_mode_rqst_pack(system_id, component_id, msg, sensesoar_mode_rqst->target); |
||||
} |
||||
|
||||
/**
|
||||
* @brief Send a sensesoar_mode_rqst message |
||||
* @param chan MAVLink channel to send the message |
||||
* |
||||
* @param target Target ID |
||||
*/ |
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
||||
|
||||
static inline void mavlink_msg_sensesoar_mode_rqst_send(mavlink_channel_t chan, uint8_t target) |
||||
{ |
||||
mavlink_message_t msg; |
||||
mavlink_msg_sensesoar_mode_rqst_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target); |
||||
mavlink_send_uart(chan, &msg); |
||||
} |
||||
|
||||
#endif |
||||
// MESSAGE SENSESOAR_MODE_RQST UNPACKING
|
||||
|
||||
/**
|
||||
* @brief Get field target from sensesoar_mode_rqst message |
||||
* |
||||
* @return Target ID |
||||
*/ |
||||
static inline uint8_t mavlink_msg_sensesoar_mode_rqst_get_target(const mavlink_message_t* msg) |
||||
{ |
||||
return (uint8_t)(msg->payload)[0]; |
||||
} |
||||
|
||||
/**
|
||||
* @brief Decode a sensesoar_mode_rqst message into a struct |
||||
* |
||||
* @param msg The message to decode |
||||
* @param sensesoar_mode_rqst C-struct to decode the message contents into |
||||
*/ |
||||
static inline void mavlink_msg_sensesoar_mode_rqst_decode(const mavlink_message_t* msg, mavlink_sensesoar_mode_rqst_t* sensesoar_mode_rqst) |
||||
{ |
||||
sensesoar_mode_rqst->target = mavlink_msg_sensesoar_mode_rqst_get_target(msg); |
||||
} |
||||
@ -1,101 +0,0 @@
@@ -1,101 +0,0 @@
|
||||
// MESSAGE SENSESOAR_MODE_RQST_SEND PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_SENSESOAR_MODE_RQST_SEND 169 |
||||
|
||||
typedef struct __mavlink_sensesoar_mode_rqst_send_t
|
||||
{ |
||||
uint8_t mode; ///< Mode as desribed in the sensesoar_mode
|
||||
|
||||
} mavlink_sensesoar_mode_rqst_send_t; |
||||
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a sensesoar_mode_rqst_send 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 mode Mode as desribed in the sensesoar_mode |
||||
* @return length of the message in bytes (excluding serial stream start sign) |
||||
*/ |
||||
static inline uint16_t mavlink_msg_sensesoar_mode_rqst_send_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t mode) |
||||
{ |
||||
uint16_t i = 0; |
||||
msg->msgid = MAVLINK_MSG_ID_SENSESOAR_MODE_RQST_SEND; |
||||
|
||||
i += put_uint8_t_by_index(mode, i, msg->payload); // Mode as desribed in the sensesoar_mode
|
||||
|
||||
return mavlink_finalize_message(msg, system_id, component_id, i); |
||||
} |
||||
|
||||
/**
|
||||
* @brief Pack a sensesoar_mode_rqst_send message |
||||
* @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 mode Mode as desribed in the sensesoar_mode |
||||
* @return length of the message in bytes (excluding serial stream start sign) |
||||
*/ |
||||
static inline uint16_t mavlink_msg_sensesoar_mode_rqst_send_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t mode) |
||||
{ |
||||
uint16_t i = 0; |
||||
msg->msgid = MAVLINK_MSG_ID_SENSESOAR_MODE_RQST_SEND; |
||||
|
||||
i += put_uint8_t_by_index(mode, i, msg->payload); // Mode as desribed in the sensesoar_mode
|
||||
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
||||
} |
||||
|
||||
/**
|
||||
* @brief Encode a sensesoar_mode_rqst_send 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 sensesoar_mode_rqst_send C-struct to read the message contents from |
||||
*/ |
||||
static inline uint16_t mavlink_msg_sensesoar_mode_rqst_send_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensesoar_mode_rqst_send_t* sensesoar_mode_rqst_send) |
||||
{ |
||||
return mavlink_msg_sensesoar_mode_rqst_send_pack(system_id, component_id, msg, sensesoar_mode_rqst_send->mode); |
||||
} |
||||
|
||||
/**
|
||||
* @brief Send a sensesoar_mode_rqst_send message |
||||
* @param chan MAVLink channel to send the message |
||||
* |
||||
* @param mode Mode as desribed in the sensesoar_mode |
||||
*/ |
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
||||
|
||||
static inline void mavlink_msg_sensesoar_mode_rqst_send_send(mavlink_channel_t chan, uint8_t mode) |
||||
{ |
||||
mavlink_message_t msg; |
||||
mavlink_msg_sensesoar_mode_rqst_send_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mode); |
||||
mavlink_send_uart(chan, &msg); |
||||
} |
||||
|
||||
#endif |
||||
// MESSAGE SENSESOAR_MODE_RQST_SEND UNPACKING
|
||||
|
||||
/**
|
||||
* @brief Get field mode from sensesoar_mode_rqst_send message |
||||
* |
||||
* @return Mode as desribed in the sensesoar_mode |
||||
*/ |
||||
static inline uint8_t mavlink_msg_sensesoar_mode_rqst_send_get_mode(const mavlink_message_t* msg) |
||||
{ |
||||
return (uint8_t)(msg->payload)[0]; |
||||
} |
||||
|
||||
/**
|
||||
* @brief Decode a sensesoar_mode_rqst_send message into a struct |
||||
* |
||||
* @param msg The message to decode |
||||
* @param sensesoar_mode_rqst_send C-struct to decode the message contents into |
||||
*/ |
||||
static inline void mavlink_msg_sensesoar_mode_rqst_send_decode(const mavlink_message_t* msg, mavlink_sensesoar_mode_rqst_send_t* sensesoar_mode_rqst_send) |
||||
{ |
||||
sensesoar_mode_rqst_send->mode = mavlink_msg_sensesoar_mode_rqst_send_get_mode(msg); |
||||
} |
||||
Loading…
Reference in new issue