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358 lines
17 KiB
358 lines
17 KiB
// MESSAGE WAYPOINT PACKING |
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#define MAVLINK_MSG_ID_WAYPOINT 39 |
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#define MAVLINK_MSG_ID_WAYPOINT_LEN 36 |
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#define MAVLINK_MSG_39_LEN 36 |
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typedef struct __mavlink_waypoint_t |
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{ |
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float param1; ///< PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
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float param2; ///< PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
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float param3; ///< PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
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float param4; ///< PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
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float x; ///< PARAM5 / local: x position, global: latitude |
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float y; ///< PARAM6 / y position: global: longitude |
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float z; ///< PARAM7 / z position: global: altitude |
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uint16_t seq; ///< Sequence |
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uint8_t target_system; ///< System ID |
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uint8_t target_component; ///< Component ID |
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uint8_t frame; ///< The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
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uint8_t command; ///< The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
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uint8_t current; ///< false:0, true:1 |
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uint8_t autocontinue; ///< autocontinue to next wp |
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} mavlink_waypoint_t; |
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/** |
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* @brief Pack a waypoint 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_system System ID |
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* @param target_component Component ID |
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* @param seq Sequence |
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* @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
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* @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
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* @param current false:0, true:1 |
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* @param autocontinue autocontinue to next wp |
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* @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
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* @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
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* @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
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* @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
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* @param x PARAM5 / local: x position, global: latitude |
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* @param y PARAM6 / y position: global: longitude |
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* @param z PARAM7 / z position: global: altitude |
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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_waypoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z) |
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{ |
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mavlink_waypoint_t *p = (mavlink_waypoint_t *)&msg->payload[0]; |
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msg->msgid = MAVLINK_MSG_ID_WAYPOINT; |
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p->target_system = target_system; // uint8_t:System ID |
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p->target_component = target_component; // uint8_t:Component ID |
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p->seq = seq; // uint16_t:Sequence |
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p->frame = frame; // uint8_t:The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
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p->command = command; // uint8_t:The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
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p->current = current; // uint8_t:false:0, true:1 |
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p->autocontinue = autocontinue; // uint8_t:autocontinue to next wp |
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p->param1 = param1; // float:PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
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p->param2 = param2; // float:PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
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p->param3 = param3; // float:PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
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p->param4 = param4; // float:PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
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p->x = x; // float:PARAM5 / local: x position, global: latitude |
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p->y = y; // float:PARAM6 / y position: global: longitude |
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p->z = z; // float:PARAM7 / z position: global: altitude |
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WAYPOINT_LEN); |
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} |
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/** |
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* @brief Pack a waypoint 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_system System ID |
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* @param target_component Component ID |
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* @param seq Sequence |
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* @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
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* @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
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* @param current false:0, true:1 |
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* @param autocontinue autocontinue to next wp |
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* @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
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* @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
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* @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
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* @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
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* @param x PARAM5 / local: x position, global: latitude |
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* @param y PARAM6 / y position: global: longitude |
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* @param z PARAM7 / z position: global: altitude |
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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_waypoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z) |
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{ |
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mavlink_waypoint_t *p = (mavlink_waypoint_t *)&msg->payload[0]; |
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msg->msgid = MAVLINK_MSG_ID_WAYPOINT; |
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p->target_system = target_system; // uint8_t:System ID |
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p->target_component = target_component; // uint8_t:Component ID |
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p->seq = seq; // uint16_t:Sequence |
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p->frame = frame; // uint8_t:The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
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p->command = command; // uint8_t:The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
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p->current = current; // uint8_t:false:0, true:1 |
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p->autocontinue = autocontinue; // uint8_t:autocontinue to next wp |
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p->param1 = param1; // float:PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
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p->param2 = param2; // float:PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
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p->param3 = param3; // float:PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
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p->param4 = param4; // float:PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
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p->x = x; // float:PARAM5 / local: x position, global: latitude |
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p->y = y; // float:PARAM6 / y position: global: longitude |
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p->z = z; // float:PARAM7 / z position: global: altitude |
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WAYPOINT_LEN); |
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} |
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/** |
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* @brief Encode a waypoint 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 waypoint C-struct to read the message contents from |
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*/ |
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static inline uint16_t mavlink_msg_waypoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_t* waypoint) |
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{ |
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return mavlink_msg_waypoint_pack(system_id, component_id, msg, waypoint->target_system, waypoint->target_component, waypoint->seq, waypoint->frame, waypoint->command, waypoint->current, waypoint->autocontinue, waypoint->param1, waypoint->param2, waypoint->param3, waypoint->param4, waypoint->x, waypoint->y, waypoint->z); |
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} |
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/** |
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* @brief Send a waypoint message |
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* @param chan MAVLink channel to send the message |
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* |
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* @param target_system System ID |
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* @param target_component Component ID |
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* @param seq Sequence |
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* @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
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* @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
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* @param current false:0, true:1 |
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* @param autocontinue autocontinue to next wp |
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* @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
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* @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
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* @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
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* @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
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* @param x PARAM5 / local: x position, global: latitude |
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* @param y PARAM6 / y position: global: longitude |
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* @param z PARAM7 / z position: global: altitude |
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*/ |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_waypoint_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z) |
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{ |
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mavlink_header_t hdr; |
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mavlink_waypoint_t payload; |
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uint16_t checksum; |
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mavlink_waypoint_t *p = &payload; |
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p->target_system = target_system; // uint8_t:System ID |
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p->target_component = target_component; // uint8_t:Component ID |
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p->seq = seq; // uint16_t:Sequence |
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p->frame = frame; // uint8_t:The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
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p->command = command; // uint8_t:The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
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p->current = current; // uint8_t:false:0, true:1 |
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p->autocontinue = autocontinue; // uint8_t:autocontinue to next wp |
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p->param1 = param1; // float:PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
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p->param2 = param2; // float:PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
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p->param3 = param3; // float:PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
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p->param4 = param4; // float:PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
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p->x = x; // float:PARAM5 / local: x position, global: latitude |
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p->y = y; // float:PARAM6 / y position: global: longitude |
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p->z = z; // float:PARAM7 / z position: global: altitude |
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hdr.STX = MAVLINK_STX; |
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hdr.len = MAVLINK_MSG_ID_WAYPOINT_LEN; |
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hdr.msgid = MAVLINK_MSG_ID_WAYPOINT; |
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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 WAYPOINT UNPACKING |
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/** |
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* @brief Get field target_system from waypoint message |
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* |
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* @return System ID |
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*/ |
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static inline uint8_t mavlink_msg_waypoint_get_target_system(const mavlink_message_t* msg) |
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{ |
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mavlink_waypoint_t *p = (mavlink_waypoint_t *)&msg->payload[0]; |
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return (uint8_t)(p->target_system); |
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} |
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/** |
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* @brief Get field target_component from waypoint message |
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* |
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* @return Component ID |
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*/ |
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static inline uint8_t mavlink_msg_waypoint_get_target_component(const mavlink_message_t* msg) |
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{ |
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mavlink_waypoint_t *p = (mavlink_waypoint_t *)&msg->payload[0]; |
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return (uint8_t)(p->target_component); |
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} |
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/** |
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* @brief Get field seq from waypoint message |
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* |
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* @return Sequence |
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*/ |
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static inline uint16_t mavlink_msg_waypoint_get_seq(const mavlink_message_t* msg) |
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{ |
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mavlink_waypoint_t *p = (mavlink_waypoint_t *)&msg->payload[0]; |
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return (uint16_t)(p->seq); |
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} |
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/** |
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* @brief Get field frame from waypoint message |
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* |
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* @return The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h |
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*/ |
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static inline uint8_t mavlink_msg_waypoint_get_frame(const mavlink_message_t* msg) |
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{ |
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mavlink_waypoint_t *p = (mavlink_waypoint_t *)&msg->payload[0]; |
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return (uint8_t)(p->frame); |
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} |
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/** |
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* @brief Get field command from waypoint message |
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* |
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* @return The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs |
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*/ |
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static inline uint8_t mavlink_msg_waypoint_get_command(const mavlink_message_t* msg) |
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{ |
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mavlink_waypoint_t *p = (mavlink_waypoint_t *)&msg->payload[0]; |
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return (uint8_t)(p->command); |
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} |
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/** |
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* @brief Get field current from waypoint message |
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* |
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* @return false:0, true:1 |
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*/ |
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static inline uint8_t mavlink_msg_waypoint_get_current(const mavlink_message_t* msg) |
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{ |
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mavlink_waypoint_t *p = (mavlink_waypoint_t *)&msg->payload[0]; |
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return (uint8_t)(p->current); |
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} |
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/** |
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* @brief Get field autocontinue from waypoint message |
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* |
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* @return autocontinue to next wp |
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*/ |
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static inline uint8_t mavlink_msg_waypoint_get_autocontinue(const mavlink_message_t* msg) |
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{ |
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mavlink_waypoint_t *p = (mavlink_waypoint_t *)&msg->payload[0]; |
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return (uint8_t)(p->autocontinue); |
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} |
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/** |
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* @brief Get field param1 from waypoint message |
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* |
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* @return PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters |
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*/ |
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static inline float mavlink_msg_waypoint_get_param1(const mavlink_message_t* msg) |
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{ |
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mavlink_waypoint_t *p = (mavlink_waypoint_t *)&msg->payload[0]; |
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return (float)(p->param1); |
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} |
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/** |
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* @brief Get field param2 from waypoint message |
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* |
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* @return PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds |
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*/ |
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static inline float mavlink_msg_waypoint_get_param2(const mavlink_message_t* msg) |
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{ |
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mavlink_waypoint_t *p = (mavlink_waypoint_t *)&msg->payload[0]; |
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return (float)(p->param2); |
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} |
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/** |
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* @brief Get field param3 from waypoint message |
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* |
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* @return PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. |
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*/ |
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static inline float mavlink_msg_waypoint_get_param3(const mavlink_message_t* msg) |
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{ |
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mavlink_waypoint_t *p = (mavlink_waypoint_t *)&msg->payload[0]; |
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return (float)(p->param3); |
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} |
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/** |
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* @brief Get field param4 from waypoint message |
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* |
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* @return PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH |
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*/ |
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static inline float mavlink_msg_waypoint_get_param4(const mavlink_message_t* msg) |
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{ |
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mavlink_waypoint_t *p = (mavlink_waypoint_t *)&msg->payload[0]; |
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return (float)(p->param4); |
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} |
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/** |
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* @brief Get field x from waypoint message |
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* |
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* @return PARAM5 / local: x position, global: latitude |
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*/ |
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static inline float mavlink_msg_waypoint_get_x(const mavlink_message_t* msg) |
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{ |
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mavlink_waypoint_t *p = (mavlink_waypoint_t *)&msg->payload[0]; |
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return (float)(p->x); |
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} |
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/** |
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* @brief Get field y from waypoint message |
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* |
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* @return PARAM6 / y position: global: longitude |
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*/ |
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static inline float mavlink_msg_waypoint_get_y(const mavlink_message_t* msg) |
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{ |
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mavlink_waypoint_t *p = (mavlink_waypoint_t *)&msg->payload[0]; |
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return (float)(p->y); |
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} |
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/** |
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* @brief Get field z from waypoint message |
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* |
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* @return PARAM7 / z position: global: altitude |
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*/ |
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static inline float mavlink_msg_waypoint_get_z(const mavlink_message_t* msg) |
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{ |
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mavlink_waypoint_t *p = (mavlink_waypoint_t *)&msg->payload[0]; |
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return (float)(p->z); |
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} |
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/** |
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* @brief Decode a waypoint message into a struct |
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* |
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* @param msg The message to decode |
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* @param waypoint C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_waypoint_decode(const mavlink_message_t* msg, mavlink_waypoint_t* waypoint) |
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{ |
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memcpy( waypoint, msg->payload, sizeof(mavlink_waypoint_t)); |
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}
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