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142 lines
5.0 KiB
142 lines
5.0 KiB
// MESSAGE SET_NAV_MODE PACKING |
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#define MAVLINK_MSG_ID_SET_NAV_MODE 12 |
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#define MAVLINK_MSG_ID_SET_NAV_MODE_LEN 2 |
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#define MAVLINK_MSG_12_LEN 2 |
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typedef struct __mavlink_set_nav_mode_t |
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{ |
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uint8_t target; ///< The system setting the mode |
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uint8_t nav_mode; ///< The new navigation mode |
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} mavlink_set_nav_mode_t; |
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/** |
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* @brief Pack a set_nav_mode 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 setting the mode |
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* @param nav_mode The new navigation 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_set_nav_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t nav_mode) |
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{ |
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mavlink_set_nav_mode_t *p = (mavlink_set_nav_mode_t *)&msg->payload[0]; |
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msg->msgid = MAVLINK_MSG_ID_SET_NAV_MODE; |
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p->target = target; // uint8_t:The system setting the mode |
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p->nav_mode = nav_mode; // uint8_t:The new navigation mode |
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_NAV_MODE_LEN); |
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} |
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/** |
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* @brief Pack a set_nav_mode 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 setting the mode |
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* @param nav_mode The new navigation 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_set_nav_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t nav_mode) |
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{ |
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mavlink_set_nav_mode_t *p = (mavlink_set_nav_mode_t *)&msg->payload[0]; |
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msg->msgid = MAVLINK_MSG_ID_SET_NAV_MODE; |
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p->target = target; // uint8_t:The system setting the mode |
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p->nav_mode = nav_mode; // uint8_t:The new navigation mode |
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_NAV_MODE_LEN); |
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} |
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/** |
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* @brief Encode a set_nav_mode 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 set_nav_mode C-struct to read the message contents from |
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*/ |
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static inline uint16_t mavlink_msg_set_nav_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_nav_mode_t* set_nav_mode) |
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{ |
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return mavlink_msg_set_nav_mode_pack(system_id, component_id, msg, set_nav_mode->target, set_nav_mode->nav_mode); |
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} |
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/** |
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* @brief Send a set_nav_mode 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 setting the mode |
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* @param nav_mode The new navigation mode |
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*/ |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_set_nav_mode_send(mavlink_channel_t chan, uint8_t target, uint8_t nav_mode) |
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{ |
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mavlink_header_t hdr; |
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mavlink_set_nav_mode_t payload; |
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uint16_t checksum; |
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mavlink_set_nav_mode_t *p = &payload; |
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p->target = target; // uint8_t:The system setting the mode |
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p->nav_mode = nav_mode; // uint8_t:The new navigation mode |
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hdr.STX = MAVLINK_STX; |
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hdr.len = MAVLINK_MSG_ID_SET_NAV_MODE_LEN; |
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hdr.msgid = MAVLINK_MSG_ID_SET_NAV_MODE; |
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hdr.sysid = mavlink_system.sysid; |
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hdr.compid = mavlink_system.compid; |
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hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; |
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mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; |
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mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); |
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crc_init(&checksum); |
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checksum = crc_calculate_mem((uint8_t *)&hdr.len, &checksum, MAVLINK_CORE_HEADER_LEN); |
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checksum = crc_calculate_mem((uint8_t *)&payload, &checksum, hdr.len ); |
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hdr.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte |
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hdr.ck_b = (uint8_t)(checksum >> 8); ///< High byte |
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mavlink_send_mem(chan, (uint8_t *)&payload, hdr.len); |
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mavlink_send_mem(chan, (uint8_t *)&hdr.ck_a, MAVLINK_NUM_CHECKSUM_BYTES); |
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} |
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#endif |
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// MESSAGE SET_NAV_MODE UNPACKING |
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/** |
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* @brief Get field target from set_nav_mode message |
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* |
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* @return The system setting the mode |
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*/ |
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static inline uint8_t mavlink_msg_set_nav_mode_get_target(const mavlink_message_t* msg) |
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{ |
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mavlink_set_nav_mode_t *p = (mavlink_set_nav_mode_t *)&msg->payload[0]; |
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return (uint8_t)(p->target); |
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} |
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/** |
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* @brief Get field nav_mode from set_nav_mode message |
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* |
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* @return The new navigation mode |
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*/ |
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static inline uint8_t mavlink_msg_set_nav_mode_get_nav_mode(const mavlink_message_t* msg) |
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{ |
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mavlink_set_nav_mode_t *p = (mavlink_set_nav_mode_t *)&msg->payload[0]; |
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return (uint8_t)(p->nav_mode); |
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} |
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/** |
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* @brief Decode a set_nav_mode message into a struct |
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* |
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* @param msg The message to decode |
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* @param set_nav_mode C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_set_nav_mode_decode(const mavlink_message_t* msg, mavlink_set_nav_mode_t* set_nav_mode) |
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{ |
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memcpy( set_nav_mode, msg->payload, sizeof(mavlink_set_nav_mode_t)); |
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}
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