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299 lines
11 KiB
299 lines
11 KiB
// MESSAGE MANUAL_CONTROL PACKING |
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#define MAVLINK_MSG_ID_MANUAL_CONTROL 69 |
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#define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 21 |
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#define MAVLINK_MSG_69_LEN 21 |
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typedef struct __mavlink_manual_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_manual_control_t; |
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/** |
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* @brief Pack a manual_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_manual_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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mavlink_manual_control_t *p = (mavlink_manual_control_t *)&msg->payload[0]; |
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msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; |
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p->target = target; // uint8_t:The system to be controlled |
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p->roll = roll; // float:roll |
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p->pitch = pitch; // float:pitch |
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p->yaw = yaw; // float:yaw |
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p->thrust = thrust; // float:thrust |
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p->roll_manual = roll_manual; // uint8_t:roll control enabled auto:0, manual:1 |
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p->pitch_manual = pitch_manual; // uint8_t:pitch auto:0, manual:1 |
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p->yaw_manual = yaw_manual; // uint8_t:yaw auto:0, manual:1 |
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p->thrust_manual = thrust_manual; // uint8_t:thrust auto:0, manual:1 |
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); |
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} |
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/** |
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* @brief Pack a manual_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_manual_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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mavlink_manual_control_t *p = (mavlink_manual_control_t *)&msg->payload[0]; |
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msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; |
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p->target = target; // uint8_t:The system to be controlled |
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p->roll = roll; // float:roll |
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p->pitch = pitch; // float:pitch |
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p->yaw = yaw; // float:yaw |
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p->thrust = thrust; // float:thrust |
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p->roll_manual = roll_manual; // uint8_t:roll control enabled auto:0, manual:1 |
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p->pitch_manual = pitch_manual; // uint8_t:pitch auto:0, manual:1 |
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p->yaw_manual = yaw_manual; // uint8_t:yaw auto:0, manual:1 |
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p->thrust_manual = thrust_manual; // uint8_t:thrust auto:0, manual:1 |
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); |
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} |
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/** |
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* @brief Encode a manual_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 manual_control C-struct to read the message contents from |
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*/ |
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static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control) |
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{ |
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return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->roll, manual_control->pitch, manual_control->yaw, manual_control->thrust, manual_control->roll_manual, manual_control->pitch_manual, manual_control->yaw_manual, manual_control->thrust_manual); |
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} |
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/** |
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* @brief Send a manual_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_manual_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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uint16_t checksum; |
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mavlink_manual_control_t *p = (mavlink_manual_control_t *)&msg.payload[0]; |
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p->target = target; // uint8_t:The system to be controlled |
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p->roll = roll; // float:roll |
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p->pitch = pitch; // float:pitch |
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p->yaw = yaw; // float:yaw |
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p->thrust = thrust; // float:thrust |
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p->roll_manual = roll_manual; // uint8_t:roll control enabled auto:0, manual:1 |
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p->pitch_manual = pitch_manual; // uint8_t:pitch auto:0, manual:1 |
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p->yaw_manual = yaw_manual; // uint8_t:yaw auto:0, manual:1 |
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p->thrust_manual = thrust_manual; // uint8_t:thrust auto:0, manual:1 |
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msg.STX = MAVLINK_STX; |
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msg.len = MAVLINK_MSG_ID_MANUAL_CONTROL_LEN; |
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msg.msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; |
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msg.sysid = mavlink_system.sysid; |
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msg.compid = mavlink_system.compid; |
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msg.seq = mavlink_get_channel_status(chan)->current_tx_seq; |
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mavlink_get_channel_status(chan)->current_tx_seq = msg.seq + 1; |
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checksum = crc_calculate_msg(&msg, msg.len + MAVLINK_CORE_HEADER_LEN); |
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msg.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte |
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msg.ck_b = (uint8_t)(checksum >> 8); ///< High byte |
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mavlink_send_msg(chan, &msg); |
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} |
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#endif |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS_SMALL |
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static inline void mavlink_msg_manual_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_header_t hdr; |
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mavlink_manual_control_t payload; |
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uint16_t checksum; |
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mavlink_manual_control_t *p = &payload; |
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p->target = target; // uint8_t:The system to be controlled |
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p->roll = roll; // float:roll |
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p->pitch = pitch; // float:pitch |
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p->yaw = yaw; // float:yaw |
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p->thrust = thrust; // float:thrust |
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p->roll_manual = roll_manual; // uint8_t:roll control enabled auto:0, manual:1 |
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p->pitch_manual = pitch_manual; // uint8_t:pitch auto:0, manual:1 |
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p->yaw_manual = yaw_manual; // uint8_t:yaw auto:0, manual:1 |
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p->thrust_manual = thrust_manual; // uint8_t:thrust auto:0, manual:1 |
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hdr.STX = MAVLINK_STX; |
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hdr.len = MAVLINK_MSG_ID_MANUAL_CONTROL_LEN; |
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hdr.msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; |
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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 MANUAL_CONTROL UNPACKING |
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/** |
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* @brief Get field target from manual_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_manual_control_get_target(const mavlink_message_t* msg) |
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{ |
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mavlink_manual_control_t *p = (mavlink_manual_control_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 roll from manual_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_manual_control_get_roll(const mavlink_message_t* msg) |
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{ |
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mavlink_manual_control_t *p = (mavlink_manual_control_t *)&msg->payload[0]; |
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return (float)(p->roll); |
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} |
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/** |
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* @brief Get field pitch from manual_control message |
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* @return pitch |
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*/ |
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static inline float mavlink_msg_manual_control_get_pitch(const mavlink_message_t* msg) |
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{ |
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mavlink_manual_control_t *p = (mavlink_manual_control_t *)&msg->payload[0]; |
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return (float)(p->pitch); |
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} |
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/** |
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* @brief Get field yaw from manual_control message |
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* @return yaw |
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*/ |
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static inline float mavlink_msg_manual_control_get_yaw(const mavlink_message_t* msg) |
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{ |
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mavlink_manual_control_t *p = (mavlink_manual_control_t *)&msg->payload[0]; |
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return (float)(p->yaw); |
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} |
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/** |
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* @brief Get field thrust from manual_control message |
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* @return thrust |
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*/ |
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static inline float mavlink_msg_manual_control_get_thrust(const mavlink_message_t* msg) |
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{ |
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mavlink_manual_control_t *p = (mavlink_manual_control_t *)&msg->payload[0]; |
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return (float)(p->thrust); |
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} |
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/** |
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* @brief Get field roll_manual from manual_control message |
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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_manual_control_get_roll_manual(const mavlink_message_t* msg) |
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{ |
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mavlink_manual_control_t *p = (mavlink_manual_control_t *)&msg->payload[0]; |
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return (uint8_t)(p->roll_manual); |
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} |
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/** |
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* @brief Get field pitch_manual from manual_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_manual_control_get_pitch_manual(const mavlink_message_t* msg) |
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{ |
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mavlink_manual_control_t *p = (mavlink_manual_control_t *)&msg->payload[0]; |
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return (uint8_t)(p->pitch_manual); |
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} |
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/** |
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* @brief Get field yaw_manual from manual_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_manual_control_get_yaw_manual(const mavlink_message_t* msg) |
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{ |
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mavlink_manual_control_t *p = (mavlink_manual_control_t *)&msg->payload[0]; |
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return (uint8_t)(p->yaw_manual); |
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} |
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/** |
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* @brief Get field thrust_manual from manual_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_manual_control_get_thrust_manual(const mavlink_message_t* msg) |
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{ |
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mavlink_manual_control_t *p = (mavlink_manual_control_t *)&msg->payload[0]; |
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return (uint8_t)(p->thrust_manual); |
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} |
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/** |
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* @brief Decode a manual_control message into a struct |
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* |
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* @param msg The message to decode |
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* @param manual_control C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* msg, mavlink_manual_control_t* manual_control) |
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{ |
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memcpy( manual_control, msg->payload, sizeof(mavlink_manual_control_t)); |
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}
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