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207 lines
7.6 KiB
207 lines
7.6 KiB
// MESSAGE PARAM_SET PACKING |
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#define MAVLINK_MSG_ID_PARAM_SET 23 |
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#define MAVLINK_MSG_ID_PARAM_SET_LEN 21 |
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#define MAVLINK_MSG_23_LEN 21 |
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typedef struct __mavlink_param_set_t |
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{ |
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uint8_t target_system; ///< System ID |
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uint8_t target_component; ///< Component ID |
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char param_id[15]; ///< Onboard parameter id |
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float param_value; ///< Onboard parameter value |
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} mavlink_param_set_t; |
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#define MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN 15 |
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/** |
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* @brief Pack a param_set 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 param_id Onboard parameter id |
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* @param param_value Onboard parameter value |
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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_param_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, const char* param_id, float param_value) |
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{ |
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mavlink_param_set_t *p = (mavlink_param_set_t *)&msg->payload[0]; |
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msg->msgid = MAVLINK_MSG_ID_PARAM_SET; |
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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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memcpy(p->param_id, param_id, sizeof(p->param_id)); // char[15]:Onboard parameter id |
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p->param_value = param_value; // float:Onboard parameter value |
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_SET_LEN); |
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} |
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/** |
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* @brief Pack a param_set 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 param_id Onboard parameter id |
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* @param param_value Onboard parameter value |
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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_param_set_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, const char* param_id, float param_value) |
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{ |
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mavlink_param_set_t *p = (mavlink_param_set_t *)&msg->payload[0]; |
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msg->msgid = MAVLINK_MSG_ID_PARAM_SET; |
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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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memcpy(p->param_id, param_id, sizeof(p->param_id)); // char[15]:Onboard parameter id |
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p->param_value = param_value; // float:Onboard parameter value |
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_SET_LEN); |
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} |
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/** |
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* @brief Encode a param_set 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 param_set C-struct to read the message contents from |
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*/ |
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static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_set_t* param_set) |
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{ |
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return mavlink_msg_param_set_pack(system_id, component_id, msg, param_set->target_system, param_set->target_component, param_set->param_id, param_set->param_value); |
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} |
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/** |
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* @brief Send a param_set 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 param_id Onboard parameter id |
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* @param param_value Onboard parameter value |
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*/ |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const char* param_id, float param_value) |
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{ |
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mavlink_message_t msg; |
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uint16_t checksum; |
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mavlink_param_set_t *p = (mavlink_param_set_t *)&msg.payload[0]; |
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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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memcpy(p->param_id, param_id, sizeof(p->param_id)); // char[15]:Onboard parameter id |
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p->param_value = param_value; // float:Onboard parameter value |
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msg.STX = MAVLINK_STX; |
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msg.len = MAVLINK_MSG_ID_PARAM_SET_LEN; |
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msg.msgid = MAVLINK_MSG_ID_PARAM_SET; |
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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_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const char* param_id, float param_value) |
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{ |
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mavlink_header_t hdr; |
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mavlink_param_set_t payload; |
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uint16_t checksum; |
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mavlink_param_set_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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memcpy(p->param_id, param_id, sizeof(p->param_id)); // char[15]:Onboard parameter id |
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p->param_value = param_value; // float:Onboard parameter value |
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hdr.STX = MAVLINK_STX; |
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hdr.len = MAVLINK_MSG_ID_PARAM_SET_LEN; |
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hdr.msgid = MAVLINK_MSG_ID_PARAM_SET; |
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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 PARAM_SET UNPACKING |
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/** |
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* @brief Get field target_system from param_set 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_param_set_get_target_system(const mavlink_message_t* msg) |
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{ |
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mavlink_param_set_t *p = (mavlink_param_set_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 param_set 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_param_set_get_target_component(const mavlink_message_t* msg) |
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{ |
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mavlink_param_set_t *p = (mavlink_param_set_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 param_id from param_set message |
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* |
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* @return Onboard parameter id |
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*/ |
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static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_t* msg, char* param_id) |
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{ |
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mavlink_param_set_t *p = (mavlink_param_set_t *)&msg->payload[0]; |
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memcpy(param_id, p->param_id, sizeof(p->param_id)); |
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return sizeof(p->param_id); |
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} |
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/** |
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* @brief Get field param_value from param_set message |
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* |
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* @return Onboard parameter value |
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*/ |
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static inline float mavlink_msg_param_set_get_param_value(const mavlink_message_t* msg) |
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{ |
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mavlink_param_set_t *p = (mavlink_param_set_t *)&msg->payload[0]; |
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return (float)(p->param_value); |
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} |
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/** |
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* @brief Decode a param_set message into a struct |
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* |
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* @param msg The message to decode |
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* @param param_set C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_param_set_decode(const mavlink_message_t* msg, mavlink_param_set_t* param_set) |
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{ |
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memcpy( param_set, msg->payload, sizeof(mavlink_param_set_t)); |
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}
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